CN116276895A

CN116276895A - Fastening device and fastening method

Info

Publication number: CN116276895A
Application number: CN202111564937.8A
Authority: CN
Inventors: 李自由; 薛景涛; 卢恒惠; 郜文美
Original assignee: Huawei Technologies Co Ltd
Current assignee: Huawei Technologies Co Ltd
Priority date: 2021-12-20
Filing date: 2021-12-20
Publication date: 2023-06-23

Abstract

The embodiment of the application provides a fastening device and a fastening method, wherein the fastening device is used for fastening limbs of a user and comprises a binding part and a control unit, wherein a memory alloy is arranged in the binding part, the control unit can determine the movement condition of the user, and the contraction or the extension of the memory alloy is controlled according to the determined movement condition of the user so as to control the tightness degree between the binding part and the limbs of the user. The motion situation of the user includes at least one of a motion scene, a motion phase, and a motion intention of the user. The fastening device can be used for fastening or loosening the binding part in a self-adaptive manner according to the movement condition of a user, and can meet the requirements of the user on wearing comfort and binding effectiveness.

Description

Fastening device and fastening method

Technical Field

Embodiments of the present application relate to the field of fastening devices, and more particularly, to a fastening device and a fastening method.

Background

The joints of the human body play a critical role in maintaining physical activity. Taking knee joints as an example, the knee joints of a human body play a role in controlling and buffering in various exercises such as walking, running and the like, and bear huge body impact force. Excessive movement or incorrect movement posture of the user may cause various kinds of injury diseases of the knee joint, and particularly, the occurrence rate of the diseases is higher with the age.

The power assisting device can provide certain supporting and assisting functions in the human body movement process, so that the impact force born by the human body joint is reduced. Currently mainstream power assisting devices, such as wearable exoskeleton robots, are mainly fastened and bound with limbs of users to achieve the effects of supporting and assisting. However, long-time fastening and binding are easy to cause problems of muscle extrusion, unsmooth blood flow and the like of a user, so that wearing comfort of the user is low.

Therefore, how to combine wearing comfort and efficient power assistance of the power assisting device is a problem to be solved.

Disclosure of Invention

The embodiment of the application provides a fastening device and a fastening method, the device can adaptively adjust the tightness degree of a binding part and a user limb according to user requirements, and the user can meet the requirements of wearing comfort and binding effectiveness.

In a first aspect, a fastening device is provided, which is used for fastening a limb of a user, and comprises a binding part and a control unit, wherein a memory alloy is arranged in the binding part, the control unit can determine the movement condition of the user, and control the contraction or the extension of the memory alloy according to the movement condition of the user, so that the purpose of controlling the tightness degree between the binding part and the limb of the user is achieved. The motion situation of the user includes at least one of a motion scene, a motion phase, and a motion intention of the user.

Optionally, the motion scene of the user includes any one of walking scene, running scene, ascending and descending stairs scene, climbing scene, skating scene, swimming scene, and rest scene.

Optionally, the user is in a resting scene including a non-standing scene such as a sitting scene, a lying scene, etc.

Optionally, the motion phase of the user comprises a first motion phase and a second motion phase, wherein the first motion phase comprises a weight bearing reaction phase or a support phase mid-phase; the second motion phase comprises at least one of a first touchdown period, a support phase end period, a swing front period and a swing phase.

It should be appreciated that the first motion phase includes a load bearing reaction phase or a mid-support phase, specifically: the first motion phase may include the load bearing reaction phase and the support phase intermediate phase, or may include only any one of the load bearing reaction phase and the support phase intermediate phase.

It should be understood that the motion phase at which the user is located refers to the gait phase at which the user is located.

Optionally, the control unit comprises a motion phase identification module for identification of individual gait phases of the user. When the motion phase identification module identifies that the gait phase of the user is in a bearing reaction period or a supporting phase middle period, the user is determined to be in a first motion phase, and when the motion phase identification module identifies that the gait phase of the user is any one of a first touchdown period, a supporting phase end period, a swing front period and a swing phase, the user is determined to be in a second motion phase.

It should be appreciated that the first motion phase is the motion phase that the user needs assistance and the second motion phase is the motion phase that the user does not need assistance. The division of the first and second motion phases is based on the user's work change at each phase of the gait cycle. In addition, the user can divide the first motion phase and the second motion phase according to the actual power-assisted requirement, and the application is not limited to this.

It should be understood that the case where the user needs assistance means that the user does work by himself or herself to complete the movement is difficult or particularly difficult, and the case where the user does not need assistance means that the user does work by himself or herself to complete the movement easily.

For example, when the joint work of the user is greater than or equal to a first threshold, the user needs assistance; when the joint work of the user is smaller than a first threshold, the user does not need assistance, the first threshold is preset by the user according to the situation of the user, or the fastening device is determined according to the use record of the user, and the application is not limited to the first threshold.

Optionally, the user's motion intent is used to indicate the motion scene the user is about to be in and/or the motion phase the user is about to be in.

Optionally, the control unit comprises a microprocessor.

In this embodiment of the present application, the memory alloy is arranged in the tying part, and the control unit can control the contraction or the extension of the memory alloy according to the motion condition of the user, and then realize the contraction or the relaxation of the fastening device. Therefore, after the user ties the tying part on the limb part, the tightness degree between the tying part and the limb of the user can be adjusted. For example, when better binding effectiveness is required, the binding force between the binding part and the limb of the user is larger, and when higher wearing comfort is required, the binding force between the binding part and the limb of the user is smaller, so that the requirements of the user on wearing comfort and binding effectiveness are met.

For example, when the fastening device is used for providing assistance for a user, when the control unit determines that the user needs assistance according to the movement condition of the user, the control unit can control the memory alloy to shrink, so that the binding part is tightly attached to the muscle curve of the user, and the force application point is ensured not to deviate in the assistance process, so that the efficient assistance of the assistance system is realized. When the control unit determines that the user does not need assistance according to the movement condition of the user, the control unit can control the memory alloy to stretch, so that the binding part is loosened, and the limb part of the user is loosened. Like this, this fastener can be according to user's helping hand demand, and the self-adaptation is fastened or is released the ligature part, can guarantee that helping hand system plays efficient helping hand effect, satisfies the user simultaneously to wearing comfortable demand.

In addition, as the tightness degree between the tying part and the limbs of the user can be adjusted, after the user wears the fastening device, the fastening device can be stably tied on the limbs of the user without displacement in the process of movement of the user. Therefore, the user only needs to wear the binding part at the rough position of the joint of the human body in the wearing process, and the binding part is not required to be positioned and fastened very accurately, so that the process of continuously adjusting the binding position of the binding part by the user is reduced, and the wearing step of the user is simplified.

With reference to the first aspect, in some implementations of the first aspect, the control unit may be further configured to obtain motion data of the user, and determine a motion situation of the user according to the motion data of the user. Wherein the user's motion data comprises components of acceleration in three mutually perpendicular directions, which here include gravitational acceleration and acceleration of the user's limb during motion.

Optionally, the fastening device further comprises a sensor unit for detecting movement data of the user, that is to say, the movement data acquired by the control unit are movement data of the user detected by the sensor unit, which may be arranged inside the control unit or may be arranged outside the control unit.

Alternatively, the sensor unit may comprise an inertial sensor for detecting the gravitational acceleration and the component of the acceleration of the user's limb during movement in three mutually perpendicular directions, wherein the three mutually perpendicular directions are defined by the inertial sensor itself.

For example: the inertial sensor can detect the components of the gravitational acceleration and the acceleration of the limb of the user in the three dimensions of the X, Y, Z axis, and the control unit can further determine the movement condition of the user according to the components of the acceleration detected by the inertial sensor in the three dimensions of the X, Y, Z axis. Wherein the X, Y, Z axes are perpendicular to each other.

It will be appreciated that the components of the acceleration detected by the inertial sensor in three dimensions of X, Y, Z axis include the sum of the gravitational acceleration and the components of the acceleration of the user's limb during movement in three dimensions of X, Y, Z axis.

It will be appreciated that the components of the gravitational acceleration and the acceleration of the user's limb in the movement in the three mutually perpendicular directions will also change, as will the user's limb in the movement will cause the three mutually perpendicular directions to change with respect to the direction of gravity.

Alternatively, the control unit may be configured to determine the movement of the user as: the control unit takes the motion data of the user detected by the sensor as input, and sequentially performs data preprocessing, feature extraction, rules or machine learning model prediction on the motion data of the user, so as to output one or more of a motion scene, a motion phase and a motion intention of the user.

In this embodiment of the present invention, the control unit obtains the motion data of the user detected by the sensor unit, and then determines one or more of the motion scene, the motion phase and the motion intention of the user according to the motion data of the user, for example, when the control unit determines that the motion phase of the user is the motion phase of the user requiring assistance according to the component data of the acceleration detected by the inertial sensor in three mutually perpendicular directions, the control unit controls the memory alloy to shrink, so as to implement efficient assistance of the assistance system, otherwise, when the control unit determines that the motion phase of the user is the motion phase of the user not requiring assistance according to the component data of the gravity acceleration of the user detected by the inertial sensor in three mutually perpendicular directions, the control unit controls the memory alloy to stretch, so that the limb portion of the user is relaxed. Like this, this fastener can be better according to user's helping hand demand, and the self-adaptation is fastened or is released binding the part, can guarantee that helping hand system plays efficient helping hand effect, satisfies the user simultaneously and dresses comfortable demand.

In addition, in the embodiment of the present application, the motion data of the user detected by the sensor unit is a component of acceleration in three directions perpendicular to each other, that is, the motion data of the user detected by the sensor is a component of gravitational acceleration and acceleration generated by the limb of the user during the motion in three directions perpendicular to each other. In this way, the sensor unit directly detects the movement data of the limbs of the user, the control unit does not need to analyze the movement condition of the user according to the muscle condition of the user, but can directly and accurately obtain the actual movement condition of the user according to the movement data of the limbs of the user, and the actual power assisting requirement of the user can be accurately identified.

It should be understood that the motion phase of the user needing assistance and the motion phase of the user not needing assistance may be preset by the user, or may be adjusted and confirmed by the user in the motion process, or may be default of the system, or may be adjusted at any time by the system according to the motion situation of the user, which is not limited in this application.

With reference to the first aspect, in certain implementation manners of the first aspect, a specific method for controlling the shrinkage or elongation of the memory alloy by the control unit is: when the user is in the first motion phase, the control unit controls the memory alloy to shrink so as to provide assistance for the user; when the user is in the second motion phase, the control unit controls the memory alloy to elongate so as not to provide assistance to the user.

In the embodiment of the application, the phase of the user needing assistance and the phase of the user not needing assistance are divided, for example, when the fastening device is applied to assistance in the walking process of the user, the control unit determines the phase of the user needing assistance of the assistance system according to work change of the user in each phase stage in the gait cycle. The control unit controls the memory alloy to shrink in the phase stage of the power assistance, and further the fastening of the binding part is achieved, so that the binding part is tightly attached to the muscle curve of a user, the force application point is prevented from shifting in the power assistance process, and the power assistance system is ensured to exert the efficient power assistance effect. And in other gait cycle stages, the control unit controls the memory alloy to stretch, so that the relaxation of the binding part is realized, and the uncomfortable feeling of the binding part to the user's muscle extrusion is reduced. Therefore, the binding part can contract and relax more pertinently according to the actual demands of the user, the demands of the user on wearing comfort and efficient assistance are considered better, and the user experience is improved.

With reference to the first aspect, in certain implementation manners of the first aspect, a specific implementation manner of the control unit controlling the shrinkage or elongation of the memory alloy is: the control unit determines the voltage applied to the memory alloy according to the movement condition of the user, and then controls the voltage to be applied to the memory alloy so as to adjust the length of the memory alloy.

It should be understood that the voltage value applied to the memory alloy determined by the control unit is an adjusted voltage value based on the voltage value corresponding to the previous movement situation of the user, and the adjusted voltage value corresponds to the current movement situation of the user.

In the embodiment of the application, the control unit controls the contraction or the extension of the memory alloy by controlling the voltage applied to the two ends of the memory alloy. For example, when the control unit detects that a user needs to assist, the voltage applied to the two ends of the memory alloy is reduced, so that the temperature of the memory alloy is reduced, the memory alloy dissipates heat and contracts, the binding part is fastened, the binding part is tightly attached to the muscle curve of the user, the force application point is prevented from shifting in the assistance process, and the efficient assistance effect of the assistance system is ensured. When the control unit detects that the user does not need the assistance, the voltage applied to the two ends of the memory alloy is increased, so that the temperature of the memory alloy is increased, the memory alloy is heated and stretched, and further the loosening of the binding part is realized, the user is loosened at the stage, and the flexible control of the tightness degree of the binding part can be realized.

With reference to the first aspect, in certain implementations of the first aspect, the control unit may be further configured to: when the user is in a rest scene, the memory alloy is controlled to periodically contract and expand so as to provide massage service for the user additionally.

Optionally, the control unit is used for detecting whether the user is in a rest scene before controlling the memory alloy to shrink and/or stretch, and controlling the memory alloy to shrink and stretch periodically when the user is determined to be in the rest scene.

Optionally, the fastening device further comprises a sensor unit. Wherein the sensor unit comprises an inertial sensor, and the inertial sensor detects weightThe force acceleration and the component of the acceleration generated by the limb of the user in the movement process in the three dimensions of X, Y, Z axes are transmitted to the control unit, when the control unit recognizes that the component fluctuation of the acceleration in the three dimensions of X, Y, Z axes is smaller (for example, the variance in a 10 second time window is less than 10% multiplied by the walking process variance) according to the received movement data, the user is in a non-standing state (for example, a is judged by the acceleration component of the Y axis) _Y > 0.8 g), the control unit determines that the user is in a rest scene.

Optionally, the user may also manually confirm that the scene is currently at rest.

In this embodiment, when the user is in the rest scene, the control unit control memory alloy carries out the shrink or the extension of different periods, different elasticity degree, and then realizes the shrink or the relaxation of different periods, different elasticity degree of ligature part. This may additionally provide a relaxing and massaging function to the user, which may help to improve the user's experience.

With reference to the first aspect, in certain implementations of the first aspect, the control unit may be further configured to: the pre-stressing of the memory alloy is controlled before the user wears the border piece.

Optionally, before the control unit controls pre-applying voltage to the memory alloy, the user performs starting initialization of the fastening device, and the pre-applying voltage is a default operation after the starting initialization of the fastening device.

Alternatively, the user may manually confirm that the fastening device is about to be worn, and the control unit controls the pre-stressing of the memory alloy.

In the embodiment of the application, before the user wears the binding part, the control unit controls pre-stressing of the memory alloy so that the memory alloy stretches. When a user wears, only a small amount of binding and outer layer fixing devices are needed to be worn at the rough positions of the joints of the human body, and the binding is not needed to be very accurately positioned and fastened, so that the user wears more conveniently, and the wearing steps of the user can be simplified.

With reference to the first aspect, in certain implementations of the first aspect, the cinch further includes a layer of insulation. The memory alloy is distributed in a heat insulating layer for heat insulation between the memory alloy and a user.

In this application embodiment, memory alloy contracts or extends under the regulation effect of voltage, and this process can produce heat, arranges memory alloy in the insulating layer, can prevent that memory alloy produced heat from causing the injury to user's limbs.

With reference to the first aspect, in certain implementations of the first aspect, the cinching component is for being cinched at a knee joint of the user.

In a second aspect, there is provided a fastening method applied to a fastening device including a control unit and a tying member in which a memory alloy is disposed, the fastening method including: the control unit firstly determines the movement condition of the user, and then controls the contraction or the extension of the memory alloy according to the movement condition of the user so as to control the tightness degree between the binding part and the limb of the user. Wherein the motion condition of the user includes at least one of a motion scene, a motion phase and a motion intention of the user.

Optionally, the motion scene of the user includes any one of a walking scene, a running scene, a stair climbing scene, a mountain climbing scene, a skating scene, a swimming scene, and a rest scene.

Optionally, the motion phases of the user include a first motion phase and a second motion phase, the first motion phase includes a load bearing reaction phase or a support phase mid-phase, and the second motion phase includes at least one of a first touchdown phase, a support phase end phase, a pre-swing phase, and a swing phase.

Optionally, the control unit comprises a motion phase identification module for identification of individual gait phases of the user. And when the gait phase of the user is identified as any one of the first touchdown period, the end phase of the supporting phase, the early swing phase and the swing phase, determining that the user is in the second motion phase.

Alternatively, the control unit may be a microprocessor.

With reference to the second aspect, in some implementations of the second aspect, a specific manner in which the control unit determines the motion situation of the user may be: the control unit firstly acquires the motion data of the user, and then determines the motion condition of the user according to the motion data of the user. Wherein the user's motion data comprises components of acceleration in three mutually perpendicular directions.

Optionally, the fastening device further comprises a sensor unit for detecting movement data of the user, that is to say, the movement data of the user acquired by the control unit are detected by the sensor unit, wherein the sensor unit may be arranged inside the control unit or outside the control unit.

Optionally, the sensor unit comprises an inertial sensor that detects the gravitational acceleration and the components of the acceleration of the user's limb during movement in three mutually perpendicular directions, for example: the inertial sensor detects the gravitational acceleration and the acceleration of the user's limb during movement in three dimensions of the X, Y, Z axis, with the X, Y, Z axis being oriented perpendicular to each other. In addition, three mutually perpendicular directions are defined by the inertial sensor itself.

It will be appreciated that the components of the gravitational acceleration and/or the acceleration of the user's limb during movement in the three mutually perpendicular directions will also change as the user's limb during movement will cause the three mutually perpendicular directions to change relative to the direction of gravity, and that the components of the gravitational acceleration and/or the user's limb during movement will also change as the acceleration of the user's limb during movement changes.

Optionally, a specific implementation manner of the user's control unit to determine the motion situation of the user may be: the control unit takes the motion data of the user as input, sequentially performs data preprocessing, feature extraction, rules or machine learning model prediction on the motion data of the user, and further outputs one or more of a motion scene, a motion phase and a motion intention of the user.

In this embodiment of the present invention, the control unit obtains the motion data of the user detected by the sensor unit, and then determines one or more of the motion scene, the motion phase and the motion intention of the user according to the motion data of the user, for example, when the control unit determines that the motion phase of the user in three mutually perpendicular directions is the motion phase to be assisted which is confirmed by the user according to the component data of the gravity acceleration of the user detected by the inertial sensor, the control unit controls the memory alloy to shrink, so as to realize efficient assistance of the assistance system, otherwise, when the control unit determines that the motion phase of the user in three mutually perpendicular directions is the motion phase to be not needed for assistance which is confirmed by the user according to the component data of the gravity acceleration of the user detected by the inertial sensor, the control unit controls the memory alloy to stretch, so that the limb part of the user is relaxed. Like this, this fastener can be better according to user's helping hand demand, and the self-adaptation is fastened or is released binding the part, can guarantee that helping hand system plays efficient helping hand effect, satisfies the user simultaneously and dresses comfortable demand.

In addition, in the embodiment of the present application, the motion data of the user detected by the sensor unit is a component of acceleration in three directions perpendicular to each other, that is, the motion data of the user detected by the sensor includes a component of gravitational acceleration and acceleration generated by a limb of the user during the motion in three directions perpendicular to each other. In this way, the sensor unit directly detects the movement data of the limbs of the user, the control unit does not need to analyze the movement condition of the user according to the muscle condition of the user, but can directly and accurately obtain the actual movement condition of the user according to the movement data of the limbs of the user, and the actual power assisting requirement of the user can be accurately identified.

It should be understood that the motion phase to be assisted and the motion phase not to be assisted, which are confirmed by the user, may be preset by the user, may be confirmed by adjusting the user in the motion process, may be default of the system, and may be adjusted at any time by the system according to the motion condition of the user, which is not limited in this application.

With reference to the second aspect, in some implementations of the second aspect, the control unit controls contraction or elongation of the memory alloy according to a movement condition of a user, and a specific control manner may be: when the user is in the first motion phase, the control unit controls the memory alloy to shrink so as to provide assistance for the user; when the user is in the second motion phase, the control unit controls the memory alloy to elongate so as not to provide assistance to the user.

With reference to the second aspect, in some implementations of the second aspect, the control unit controls contraction or elongation of the memory alloy according to a movement condition of a user, and specific implementations are: the control unit determines the voltage applied to the memory alloy according to the movement condition of the user, and then controls the determined voltage to be applied to the memory alloy so as to adjust the length of the memory alloy.

In the embodiment of the application, the control unit controls the contraction or the extension of the memory alloy by controlling the voltage applied to the two ends of the memory alloy. For example, when the control unit determines that the user needs to assist, the voltage applied to the two ends of the memory alloy is reduced, so that the temperature of the memory alloy is reduced, the memory alloy is contracted, further the fastening of the binding part is realized, the binding part is tightly attached to the muscle curve of the user, the force application point is prevented from shifting in the assistance process, and the efficient assistance effect of the assistance system is ensured. When the control unit determines that the user does not need assistance, the voltage applied to the two ends of the memory alloy is increased, so that the temperature of the memory alloy is increased, the memory alloy is elongated, and further, the binding part is loosened, and the user is loosened at the stage. Thus, the tightness degree of the binding part can be flexibly controlled.

With reference to the second aspect, in certain implementations of the second aspect, the fastening method further includes: when the user is in a rest scene, the control unit controls the memory alloy to periodically shrink and stretch.

Optionally, the control unit detects whether the user is in a rest scene before controlling the memory alloy to shrink and/or stretch, and controls the memory alloy to shrink and stretch periodically when the user is determined to be in the rest scene.

Optionally, the fastening device further comprises a sensor unit. The sensor unit comprises an inertial sensor, the inertial sensor detects motion data such as gravitational acceleration and components of acceleration of limbs of a user in X, Y, Z-axis three-dimension in motion process, and sends the motion data to the control unit, when the control unit recognizes that the component fluctuation of the acceleration of the user in X, Y, Z-axis three-dimension is small (for example, variance < 10% in a 10 second time window x walking process variance) according to the received motion data, and the user is in a non-standing state (for example, a is known through the judgment of the acceleration component of a of Y-axis) _Y > 0.8 g), the control unit determines that the user is in a rest scene.

In this embodiment, when the control unit determines that the user is in the rest scene, the control unit controls the memory alloy to shrink or extend in different periods and different degrees of tightness, and then the shrink or relax in different periods and different degrees of tightness of the binding part is realized. This may additionally provide a relaxing and massaging function to the user, which may help to improve the user's experience.

With reference to the second aspect, in certain implementations of the second aspect, the fastening method further includes: the control unit controls the pre-stressing of the memory alloy before the user wears the border piece.

In the embodiment of the application, before the user wears the binding part, the control unit controls pre-stressing of the memory alloy so that the memory alloy stretches. When a user wears, only a small amount of binding and outer layer fixing devices are needed to be worn at the rough positions of the joints of the human body, and no very accurate positioning and fastening binding are needed, so that the user wears more conveniently, and the wearing steps of the user can be simplified.

In a third aspect, a computer readable medium is provided, having stored thereon a computer program which, when executed by a computer, implements the method of the second aspect and possible implementations thereof.

In a fourth aspect, a computer program product is provided which, when executed by a computer, implements the method of the second aspect and possible implementations thereof.

In a fifth aspect, a chip is provided, the chip comprising a processor and a data interface, the processor reading instructions stored on a memory via the data interface to perform the method of the second aspect and its possible implementation.

In a sixth aspect, a wearable device is provided, the wearable device comprising the device of the first aspect and its possible implementation forms and a power assisting system for providing power assistance to a user.

It will be appreciated that the fastening means is used to cause the cinching member to conform to the user's muscles before the assistance system provides assistance to the user.

Drawings

FIG. 1 is a schematic block diagram of a fastening device provided in an embodiment of the present application;

FIG. 2 is a schematic block diagram of another fastening device provided in an embodiment of the present application;

FIG. 3 is a usage profile of a fastening device provided by an embodiment of the present application;

FIG. 4 is a graph of a schematic relationship between deformation length and driving voltage signal for a memory alloy provided in an embodiment of the present application;

FIG. 5 is a schematic view of a fastening device provided in an embodiment of the present application in cooperation with a power assist system;

FIG. 6 is a schematic graph of the change in knee joint work applied by a user over a complete gait cycle provided by an embodiment of the present application;

Fig. 7 is a schematic structural diagram of a control unit provided in an embodiment of the present application;

FIG. 8 is a schematic flow chart of a fastening method provided by an embodiment of the present application;

FIG. 9 is a schematic flow chart of another fastening method provided by an embodiment of the present application;

FIG. 10 is a schematic flow chart of yet another fastening method provided by an embodiment of the present application;

fig. 11 is a schematic flow chart of yet another fastening method provided by an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings.

The terminology used in the following embodiments is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the specification and the appended claims, the singular forms "a," "an," "the," and "the" are intended to include, for example, "one or more" such forms of expression, unless the context clearly indicates to the contrary. It should also be understood that in the various embodiments herein below, "at least one", "one or more" means one, two or more than two. The term "and/or" is used to describe an association relationship of associated objects, meaning that there may be three relationships; for example, a and/or B may represent: a alone, a and B together, and B alone, wherein A, B may be singular or plural. The character "/" generally indicates that the context-dependent object is an "or" relationship.

Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "one embodiment," "some embodiments," "another embodiment," "other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more, but not all, embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.

For ease of understanding, the terms referred to in this application are briefly described below.

1. Shape memory alloy (shape memory alloys, SMA)

Shape memory alloy SMA is a metal alloy material that has a shape memory effect through thermoelastic and martensitic transformation and inversion thereof. When the shape memory alloy is heated and reaches the phase transition temperature A _f When the shape memory alloy is in the low temperature state, the deformation is eliminated, the original state is restored, and the mechanical energy and the motion are output to the outside. Current temperature control techniques for heating shape memory alloy wires are mainly pulse code modulation (pulse code modulation, PCM) and pulse width modulation (pulse width modulation, PWM). The PWM technology is simple and effective, and is a main flow control technology for electric heating control; and most microcontrollers have PWM output ports, easy to put into practice Motion control is now performed. In short, the shape or length of the shape memory alloy changes with a change in temperature or voltage, when the temperature or voltage increases, the shape memory alloy is elongated by heat, and when the temperature or voltage decreases, the shape memory alloy dissipates heat and contracts, so that the shape memory alloy can be elongated or contracted by changing the voltage or temperature. The maximum voltage applied to the shape memory alloy is about 10V, the applied voltage can be regulated by a PWM modulation mode, the maximum current applied to the shape memory alloy is about 0.4A, the expansion ratio of the length of the shape memory alloy from the normal temperature initial state to the maximum length of the heated elongation is about 4-8%, the response time from the normal temperature initial state to the maximum length of the heated elongation is about 1s, the number of times of repeated contraction is about ten millions when the shape memory alloy is in a proper contraction force working condition, when the shape memory alloy is used for the exercise assisting process of a user, the shape memory alloy is calculated according to 8000 steps of walking of the user every day, 1 autonomous contraction occurs for each gait cycle, and the effective service life of the shape memory alloy is about 1250 days, namely the service life of the shape memory alloy can exceed 3 years.

2. Gait Cycle (GC)

The process of one-sided heel strike to this one-sided heel strike again while walking is referred to as a gait cycle, and is generally expressed in time seconds(s). The gait cycle of a typical adult is about 1-1.32s, and each gait cycle in walking comprises a series of typical pose transitions, which are typically divided into a series of time periods, known as gait phases. A gait cycle can be divided into a supporting phase and a swing phase, and subdivided into 8 phases.

3. Support phase

The support phase refers to the time for the lower limb to contact the ground and bear gravity, accounting for 60% of the gait cycle, most of the time in the support phase is single-foot support, the key difference between walking and running is the time for which there is bipedal support, called the bipedal phase, the time of which is inversely proportional to the walking speed.

The support phase is divided into 5 time phases:

(1) First contact (IC): the moment the heel contacts the ground, the forward movement of the lower limb is slowed down, which accounts for about 2% of GC.

(2) Load Response (LR): the process of transferring the center of gravity from the heel to the full foot after the first touchdown of the finger foot accounts for about 10% of GC.

(3) Mid-phase (MS): refers to the time of the intermediate phase of the support phase. At this time, the supporting feet are all landed, the contralateral feet are in a swinging phase, which is the only time phase when the single foot supports all the gravity, and the middle phase of the supporting phase accounts for about 19% of GC at normal pace. The main function of this stage is to keep the knee joint stable, control the tibial forward inertial movement, prepare for the forward propulsion of the lower limb, the muscles involved in this process are mainly the knee-intestine muscle and the soleus muscle, the lower limb bearing force is shortened in this period when less than the body weight or body instability, in order to shift the centre of gravity to the other foot rapidly, keep the body balanced.

(4) End of support phase (TS): the time of actively accelerating the pedaling off of the lower limb begins with the heel lifting and ends with the foot leaving the ground, which accounts for about 19% of GC.

(5) Pre-swing (PS): during the slow walking, the toe can leave the ground without being kicked off, and the toe accounts for about 12% of GC.

4. Swing phase

The swing phase refers to the time between the foot stepping forward from the ground to landing again, accounting for 40% of the GC.

The wobble phase is divided into three phases:

(1) Early swing (IS) refers to the early period of foot movement away from the ground, and the main actions include foot clearance from the ground and hip flexion to bend the knee, accelerating forward swing of the limb, accounting for about 13% of GC.

(2) Mid Swing (MS) refers to the mid-period of motion of the foot in the air, with foot clearance still being the primary task, accounting for around 12% of GC.

(3) The end of swing (TS) refers to the movement of the foot just before landing, and the main motion is to slow down the forward movement of the lower limb and prepare the foot for landing, accounting for about 13% of GC.

The swing phase is a phase which is always in non-contact with the ground during walking, and the main action points of the phase are as follows:

(1) Foot lifting, starting from 63.6% of one GC, is the acceleration period of toe off, lower limb forward swing;

(2) Maximum knee flexion, starting from 67.9% of one GC, the lower limb swung out passes just under the body;

(3) Maximum flexion of the hip joint, starting from 84.6% of GC. The lower limb swings forwards and begins to decelerate until the heel lands;

(4) The heel was grounded, completing 100% of GC.

The technical scheme of the embodiment of the application can be applied to the motion assistance of the user in different motion scenes, and can also be applied to the automatic fastening scene of the wrist strap of the watch.

Taking the knee joint of a human body as an example, the knee joint of the human body is extremely easy to be damaged due to various reasons, the knee joint of the human body mainly plays a role in controlling and buffering in various exercises such as walking, running and the like, and huge body impact force is born. Overexercise or incorrect posture, and with age, can lead to various injuries of the knee joint. The Chinese health and care follow-up database shows that the number of patients suffering from symptomatic knee arthritis in China exceeds 1 hundred million, more and more people suffer from knee pain or injury, and many people finally have to perform knee joint replacement surgery.

The current solution is to use wearable exoskeleton robots, and a large number of wearable exoskeleton robot systems are developed and explored in academia and industry, and can be mainly divided into rigid exoskeleton robots and flexible exoskeleton robots. The rigid exoskeleton robot mainly uses the rigid connecting rod as a robot system framework, can provide a supporting function, and plays a good assistance effect. The system is mainly oriented to injured persons who cannot stand on the system or provides an enhanced assistance effect for soldiers and the like. The flexible exoskeleton robot mainly comprises a flexible structure, a flexible driving unit and the like, and the flexible degree of freedom enables the flexible exoskeleton robot to be suitable for different crowds or wearing modes, and is mainly oriented to old people with motor function decline or patients with only partial walking capacity and the like. Both rigid and flexible exoskeleton robots are intended to provide protection, rehabilitation, assistance, etc. to the wearer during movement to reduce knee impact damage.

Both the rigid exoskeleton robot and the flexible exoskeleton robot need to be fastened and bound with the limbs of the user to achieve the supporting and power assisting effects, but on the other hand, the tightness degree between the binding device and the limbs is fixed once the user wears the robot. In the walking process, the shape or volume of the muscle of the user can be changed, and the long-time fastening and binding can easily cause the muscle extrusion and the unsmooth blood flow of the user, so that the comfort requirement of the user on wearing is difficult to meet. Moreover, the position requirement of the force application point in the power assisting process is high, the force application point is easy to deviate, and the requirements of users on wearing comfort and high-efficiency power assisting cannot be met at the same time. In addition, the user needs to manually select the fixing position, the supporting unit and the like, more limb binding positions are involved, and a large number of binding parts are adopted for fixing, so that the user wearing is complicated.

In view of the foregoing, embodiments of the present application provide a fastening device and a fastening method. The device can be according to the user demand, and the elasticity degree of self-adaptation regulation ligature part and user's limbs can compromise the user to wearing the demand of travelling comfort and ligature validity.

Embodiments of the present application are described in detail below with reference to the accompanying drawings.

Fig. 1 shows a schematic framework view of a fastening device 100 provided in an embodiment of the present application.

As shown in fig. 1, the fastening device 100 is used for fastening a limb of a user, the fastening device 100 comprises a control unit 101 and a binding 102, and a memory alloy 1023 is arranged in the binding 102. The control unit 101 is used to control the contraction or elongation of the memory alloy 1023 to control the tightness between the cinch 102 and the limb of the user.

Optionally, the cinch 102 also includes an insulating layer 1022 with the memory alloy 1023 distributed within the insulating layer 1022. The memory alloy 1023 heats up during elongation and the insulation layer 1022 serves to insulate the fastening device from the user.

Optionally, the binding 102 further comprises a fixation unit 1021. The fixing unit 1021 is connected to the insulation layer 1022 for fixing the outer layer of the tying part.

In one implementation of this embodiment, the control unit 101 is specifically configured to determine a movement condition of the user, and further configured to control contraction or extension of the memory alloy 1023 according to the movement condition of the user, so as to implement contraction or relaxation of the tying part 102.

Optionally, the motion condition of the user includes one or more of a motion scene, a motion phase, and a motion intention.

Optionally, the sports scene of the user includes any one of walking scene, running scene, ascending and descending stairs scene, mountain climbing scene, skating scene, swimming scene, riding scene, standing scene, gymnastics scene, ball sports scene, stretching sports scene, rest scene, and other sports related scene, which is not limited in this application.

Optionally, the rest scene includes a sitting scene, a lying scene, and the like, which is not standing.

Alternatively, the walking scene may include in-situ stepping, walking, fast walking, heel-and-toe walking, etc., and may be one leg walking (such as walking with a crutch, jumping with a single leg) or two legs walking; running scenarios may include jogging, sprinting, etc., which are not limited in this application.

Optionally, the motion phases of the user include a first motion phase including a load bearing reaction period or a mid-support phase and a second motion phase including at least one of a first touchdown period, an end-support phase, a pre-swing period, and a swing phase.

Optionally, the control unit comprises a microprocessor.

It should be understood that the motion phase of the user in this embodiment refers to the gait phase of the user, and that the motion phases mentioned in other embodiments of the present application refer to the gait phase of the user, and will not be described later.

Optionally, the motion intent of the user is used to indicate the motion scene the user is about to be in and/or the motion phase the user is about to be in. For example: the user is currently at the end of the weight bearing reaction period and the control unit thereby determines that the user is about to be in the middle of the supportive phase. It should be understood that the exercise intent of the user is also used to indicate the upcoming exercise situation of other users, which is not limited in this application.

It should be understood that, in the embodiments of the present application, each function may be performed in the same unit, may be performed in different units, or may be performed by integrating different units together, which is not limited in this application.

In the embodiment of the application, the memory alloy is arranged in the binding part, and the control unit can control the shrinkage or elongation of the memory alloy, so that the shrinkage or relaxation of the fastening device is realized. Therefore, after the user ties the tying part on the limb part, the tightness degree between the tying part and the limb of the user can be adjusted. For example, when better binding effectiveness is required, the binding force between the binding part and the limb of the user is larger, and when higher wearing comfort is required, the binding force between the binding part and the limb of the user is smaller, so that the requirements of the user on wearing comfort and binding effectiveness are met.

The control unit can control the shrinkage or the extension of the memory alloy according to the movement condition of the user, for example, when the fastening device is used for providing assistance for the user, the control unit can control the shrinkage of the memory alloy when determining that the user needs assistance according to the movement condition of the user, so that the binding part is tightly attached to the muscle curve of the user, and the force application point is ensured not to deviate in the assistance process, so that the efficient assistance of the assistance system is realized. When the control unit determines that the user does not need assistance according to the movement condition of the user, the memory alloy is controlled to stretch, so that the limb part of the user is loosened, the fastening device can fasten or loosen the binding part in a self-adaptive manner according to the walking requirement of the user, the efficient assistance effect of the assistance system can be ensured, and the comfortable wearing requirement of the user is met.

For a further understanding of the control process of the contraction or elongation of the memory alloy by the control unit, fig. 2 shows a schematic frame diagram of a fastening device 200, by way of example, on the basis of the embodiment shown in fig. 1.

As shown in fig. 2, the fastening device 200 comprises a detection and control system 201 and the cinching member 102. Wherein the tying part comprises a fixing unit 1021, a heat insulating layer 1022 and a memory alloy 1023. The fixing unit 1021 is connected with the heat insulating layer 1022 for fixing the outer layer of the tying part 102. Memory alloy 1023 is distributed in insulating layer 1022 for effecting contraction or elongation of binding 102. The detection and control system 201 includes a sensor unit 2011, a control unit 101, a conditioning circuit 2012 and a voltage output 2013. The sensor unit 2011 is used for collecting motion data of a user. The control unit 101 is configured to receive the movement data of the user sent by the sensor unit 2011, determine the movement condition of the user according to the received movement data of the user, and send a driving signal for controlling the memory alloy 1023 to shrink or stretch according to the movement condition of the user. The conditioning circuit 2012 is configured to receive a driving signal sent by the control unit 101 to control the contraction or expansion of the memory alloy 1023, and to determine a voltage value applied to the memory alloy 1023 according to the received driving signal to control the contraction or expansion of the memory alloy 1023. The voltage output 2013 is used to apply the voltage value determined by the conditioning circuit 2012 to the memory alloy 1023. The thermal insulation layer 1022 is used for thermal insulation between the memory alloy 1023 and the user's limb with an accompanying temperature rise during elongation of the memory alloy 1023.

It should be understood that, when the conditioning circuit 2012 receives the driving signal sent by the control unit 101 to control the shrinkage of the memory alloy 1023, the voltage value applied to the memory alloy 1023 determined by the conditioning circuit 2012 should be smaller than the voltage value applied across the memory alloy 1023, so that the memory alloy 1023 dissipates heat and shrinks. Similarly, when the conditioning circuit 2012 receives the driving signal sent by the control unit 101 to control the elongation of the memory alloy 1023, the voltage value applied to the memory alloy 1023 determined by the conditioning circuit 2012 should be greater than the voltage value originally applied across the memory alloy 1023, so that the memory alloy 1023 is elongated by heating.

It should be understood that various functions in the embodiments of the present application may be performed in the same unit, may be performed in different units, or may be performed by integrating different units together. For example: the sensor unit 2011 and the voltage output terminal 2013 may be located inside the control unit 101, or may be located outside the control unit 101, which is not limited in comparison.

In one implementation of the present embodiment, the control unit 101 may be further configured to: when the user is in a rest scene, the memory alloy 1023 is controlled to periodically contract and expand.

Optionally, the control unit 101 is configured to detect whether the user is in a rest scene before controlling the memory alloy 1023 to shrink and/or stretch, and when determining that the user is in the rest scene, control the memory alloy 1023 to shrink and stretch periodically.

Optionally, the sensor unit 2011 comprises an inertial sensor. The inertial sensor detects motion data such as gravitational acceleration and components of acceleration of the user's limb in three dimensions of X, Y, Z axis generated during the motion, and sends the motion data to the control unit 101. When the control unit 101 recognizes that the component fluctuation of the acceleration in three dimensions of X, Y, Z axis is small (for example, the variance in 10 seconds time window is less than 10% ×walking process variance) based on the received motion data, the user is in a non-standing state (for example, a is determined by the acceleration component of Y axis) _Y > 0.8 g), the control unit 101 determines that the user is in a rest scene.

It should be understood that the direction of the X, Y, Z axis is three mutually perpendicular directions.

Alternatively, the three mutually perpendicular directions are defined by the inertial sensor itself.

In this embodiment of the present application, after the fixing unit fixes the tying-up part, the control unit can control shrinkage or elongation of the memory alloy according to the movement condition of the user. For example, when the control unit determines that the user needs assistance according to the movement condition of the user, the memory alloy is controlled to shrink, so that the binding part is tightly attached to the muscle curve of the user, the force application point is ensured not to deviate in the assistance process, and the efficient assistance of the assistance system is further realized. When the control unit determines that the user does not need assistance according to the movement condition of the user, the memory alloy is controlled to stretch, and the binding part is loosened. Like this, this fastener can be according to user's helping hand demand, and the self-adaptation is fastened or is released the ligature part, can guarantee that helping hand system plays efficient helping hand effect, satisfies the user simultaneously to wearing comfortable demand.

In addition, after the user wears the fastening device, the fastening device can be stably tied on the limb of the user without displacement under the contraction action of the memory alloy during the movement of the user. Therefore, a user only needs to wear the rough position of the joint of the human body in the wearing process, the user does not need to position and fasten the joint very accurately, and in addition, in the embodiment of the application, the tightness degree between the binding part and the limb of the user is controlled by controlling the voltage applied to the memory alloy, so that a large number of binding parts are not needed to be adhered and fixed, and the wearing steps of the user are simplified.

And when the user is in a rest scene, the control unit controls the memory alloy to shrink or stretch in different periods and with different degrees of tightness, so that the contraction or relaxation of the binding part in different periods and with different degrees of tightness is realized. This may additionally provide a relaxing and massaging function to the user, which may help to improve the user's experience.

By way of example, fig. 3 illustrates a usage profile of a fastening device 200 provided by an embodiment of the present application.

As shown in fig. 3, the tying part 102 is tied to the knee joint of the human body. The detection and control system 201 is fixed above the knee joint of the human body and connected with two ends of the memory alloy 1023 in the binding part 102 through a circuit. The detection and control system 201 further comprises a battery 301 for the power supply of the whole fastening device. The sensor unit 2011 and the control unit 101 are disposed on the same side of the battery pack 301 up and down. The conditioning circuit 2012 is disposed on the side of the sensor unit 2011 and the control unit 101 not adjacent to the battery pack 301, sandwiching the sensor unit 2011 and the control unit 101 together with the battery pack 301. Conditioning circuit 2012 is connected to voltage output 2013. The positive and negative poles of the voltage output end are respectively connected with the two ends of the memory alloy 1023.

It will be appreciated that the detection and control system 201 is arranged adjacent to the cinching member 102. The detection and control system 201 may be arranged under the border element 102, on the left side of the border element 102, on the right side of the border element 102, on the border element 102. The distance between the detection and control system 201 and the cinching feature 102 should be as small as possible to ensure that the user's movement detected by the detection and control system 201 is authentic.

In the embodiment of the application, the fastening device is applied to the assistance process of the knee joint of the human body. After the fixing unit fixes the fastening device, the detection and control system is arranged adjacent to the binding part, so that the movement condition of the knee joint of the human body can be truly detected. The control unit can control the contraction or the extension of the memory alloy according to the movement condition of the user. When the control unit determines that the knee joint of the user needs to be assisted according to the movement condition of the user, the control unit can control the memory alloy to shrink, so that the binding part is tightly attached to the muscle curve of the knee joint of the user, the force application point is ensured not to deviate in the assistance process, and the efficient assistance of the assistance system is realized. When the control unit determines that the knee joint of the user does not need assistance according to the movement condition of the user, the control unit can control the memory alloy to stretch, so that the binding part is loosened, and the knee joint of the user is loosened. Like this, this fastener can be according to user's helping hand demand, and the self-adaptation is fastened or is relaxed the binding part, can guarantee that helping hand system exerts efficient helping hand effect in user's knee joint's motion in-process, satisfies the user simultaneously and dresses comfortable demand.

On the basis of the embodiment shown in fig. 1, the present application provides a further embodiment, and the control unit 101 may be further specifically configured to: when the user is in the first motion phase, controlling the memory alloy 1023 to contract to provide assistance to the user; and is also used to control the elongation of the memory alloy 1023 when the user is in the second motion phase so as not to provide assistance to the user.

Optionally, the first motion phase comprises: a load bearing reaction period and/or a support phase intermediate period; the second motion phase includes: at least one of a first touchdown period, a supporting phase end period, a pre-swing period and a swing phase.

Optionally, the control unit 101 is configured to detect a motion phase of the user before controlling the memory alloy 1023 to contract or expand. When it is determined that the user is in the first motion phase, the memory alloy 1023 is controlled to contract to provide assistance to the user. When it is determined that the user is in the second motion phase, the memory alloy 1023 is controlled to elongate so as not to provide assistance to the user.

Optionally, the control unit 101 comprises a motion phase identification module, which may be used for identification of individual gait phases of the user. When the gait phase of the user is identified as the weight bearing reaction phase and/or the mid-support phase, the user is determined to be in a first motion phase. And when the gait phase of the user is identified as at least one of the first touchdown period, the end phase of the supporting phase, the early swing phase and the swing phase, determining that the user is in the second motion phase.

It should be appreciated that the first motion phase is the motion phase that the user needs assistance and the second motion phase is the motion phase that the user does not need assistance. The division of the first and second motion phases is based on the work change of the user in each motion phase during the gait cycle. In addition, the user can divide the first motion phase and the second motion phase according to the actual power-assisted requirement, and the application is not limited to this.

In the embodiment of the application, the motion phase of the user needing assistance and the motion phase of the user not needing assistance are divided, for example, when the fastening device is applied to assistance in the walking process of the user, the control unit determines the motion phase of the user needing assistance of the assistance system according to the work change of each phase of the user in the gait cycle. The control unit controls the memory alloy to shrink in the motion phase stage requiring assistance, and further fastening of the binding part is achieved, so that the binding part is tightly attached to a muscle curve of a user, the force application point is prevented from shifting in the assistance process, and the assistance system is ensured to exert an efficient assistance effect. And in other gait cycle stages, the control unit controls the memory alloy to stretch, so that the relaxation of the binding part is realized, and the uncomfortable feeling of the binding part to the user's muscle extrusion is reduced. Therefore, the binding part can contract and relax more pertinently according to the actual demands of the user, the demands of the user on wearing comfort and efficient assistance are considered better, and the user experience is improved.

For a better understanding of the contraction and elongation functions of the memory alloy, fig. 4 shows a schematic graph of the relationship between the deformation length of the memory alloy and the driving voltage signal provided by the embodiment of the present application.

As can be seen from fig. 4, the deformation length of the memory alloy is positively correlated with the magnitude of the driving voltage signal. When the driving voltage applied to the memory alloy is increased, the deformed length of the memory alloy increases. When the driving voltage applied to the memory alloy is reduced, the deformed length of the memory alloy is reduced.

Illustratively, the control unit 101 may be configured to determine the voltage applied to the memory alloy 1023 based on the user's movement; and also for controlling the voltage output 2013 to apply the voltage to the memory alloy 1023 to adjust the length of the memory alloy 1023. When the control unit 101 determines that the user needs assistance, the conditioning circuit 2012 is controlled to reduce the driving voltage applied to the memory alloy 1023, thereby controlling the memory alloy 1023 to contract. When the control unit 101 determines that the user does not need the assistance, the conditioning circuit 2012 is controlled to increase the driving voltage applied to the memory alloy 1023, thereby controlling the memory alloy 1023 to elongate.

It should be appreciated that in embodiments of the present application, the contraction or elongation of the memory alloy is controlled by adjusting the voltage value applied to the memory alloy. The voltage value applied to the memory alloy determined by the control unit is a voltage value which is adjusted based on the voltage value corresponding to the previous movement condition of the user, and the adjusted voltage value corresponds to the current movement condition of the user.

In the embodiment of the application, the control unit controls the contraction or the extension of the memory alloy by controlling the voltage applied to both ends of the memory alloy. For example, when the control unit determines that the user needs to assist, the control unit controls and reduces the voltage applied to the two ends of the memory alloy, so that the temperature of the memory alloy is reduced, the memory alloy is contracted, further the fastening of the binding part is realized, the binding part is tightly attached to the muscle curve of the user, the force application point is ensured not to deviate in the assistance process, and the efficient assistance effect of the assistance system is ensured. When the control unit determines that the user does not need assistance, the voltage applied to the two ends of the memory alloy is controlled to be increased, so that the temperature of the memory alloy is increased, the memory alloy is elongated, and further the binding part is loosened, and the user is loosened at the stage. Thus, the tightness degree of the binding part can be flexibly controlled.

In addition, in the embodiment of the application, the tightness degree between the binding part and the limb of the user is controlled by controlling the voltage applied to the memory alloy through the control unit, and a large number of binding parts are not required to be adhered and fixed, so that the wearing steps of the user are simplified.

For a better understanding of the working principle of the fastening device, an exemplary embodiment is based on the embodiment shown in fig. 3, and fig. 5 shows a schematic diagram of the fastening device 200 in a worn state according to an embodiment of the present application in cooperation with a power assisting system.

As shown in fig. 5, the fastening device 200 comprises a control unit 101 and a binding 102. The power assist system includes a power unit 501 and an actuator 502. Reference numeral 503 denotes a point of application of force to the knee joint by the user during the gait cycle, for the purpose of sharing impact forces or applying support forces to the knee joint. The position distribution of the control unit 101 and the components and the relative positional relationship of the components thereof are described in detail in the embodiment shown in fig. 3, and are not described herein for brevity. A power unit 501 is located on the cinching member 102 for outputting the torque required to assist the knee joint. The actuating mechanism 502 is used for supporting the moment output by the power transmission unit 501, forming a supporting moment at the knee joint, and pulling the force application points 503 at the upper and lower positions to drive the knee joint to rotate or stretch, so that the burden pressure of the knee joint at the stage with assistance requirement of a user can be compensated.

Alternatively, the power unit may be a motor, pneumatic artificial muscle, or the like.

Alternatively, actuator 502 may be a rigid mechanism (with bi-directional force) or a flexible mechanism (with only unidirectional force).

When the walking user is in the bearing reaction period or the support phase middle period, the requirement for assistance is largest. The position of the point of application 503 directly affects the effective output of torque from the power unit 501. Thus, the point of application 503 must be secured and fixed relative to the limb while the walking user is in the weight bearing reaction phase or the mid-support phase. Similarly, when the user is in a scene of going up or down stairs, the knee joint bears a larger supporting force, and whether the force application point 503 is fastened and fixed relative to the limb directly influences the assistance effect.

In this embodiment, when the user of walking is in the stage that has the helping hand demand, the control unit is used for before power unit output moment, and control memory alloy contracts, and memory alloy's controlled contraction degree accords with muscle fusiform and distributes for memory alloy firmly fixes at shank muscle periphery, ensures that the point of application of force does not take place the skew, makes helping hand system realize high-efficient helping hand. At the stage that the user is in the no helping hand demand, the control unit control memory alloy extends, realizes the relaxation of binding part, and then reduces the uncomfortable sense that the binding part extrudeed to user's muscle, satisfies the demand of user to wearing the travelling comfort simultaneously.

To more clearly understand the control unit's determination of the phase of motion that requires assistance, fig. 6 shows, by way of example, a schematic graph of the user's knee joint work change over a complete gait cycle.

The process of the user during walking with one side heel striking to the side heel striking again is referred to as a complete gait cycle. Mainly comprises a supporting phase and a swinging phase which respectively account for 60% and 40% of a complete gait cycle. Wherein the bearing reaction period in the support phase is about 10%, and the bearing reaction period in the support phase is about 19%. The knee joint is respectively subjected to the maximum walking impact force (maintaining the posture of the knee joint to absorb the kinetic energy) and the maximum supporting assistance force (helping the body gravity center to be transferred from one side to the other side) in the bearing reaction stage and the supporting phase middle stage, and the stage is the key stage of assisting the walking of the assistance system. In the swing phase and the like gait phase, assistance is not needed.

As shown in fig. 6, knee joint work mainly occurs in the load bearing reaction phase and the mid-phase of the supportive phase. In the first touchdown period, the end of the supporting phase, the early swing phase and the knee joint of the swing phase hardly do work, so that the requirement for assistance is maximum when a walking user is in a bearing reaction period or a middle supporting phase.

It should be understood that the user may also set the motion phase (i.e. the first motion phase) requiring the assistance and the motion phase (i.e. the second motion phase) not requiring the assistance according to the actual requirement, which is not limited in this application.

In this embodiment, when the fastening device is used for assisting the knee joint of the user, the control unit determines the phase requiring assistance of the assistance system based on the work change of the user in each phase stage in the gait cycle. The control unit controls the memory alloy to shrink in the phase stage of the power assistance, and further the fastening of the binding part is achieved, so that the binding part is tightly attached to the muscle curve of a user, the force application point is prevented from shifting in the power assistance process, and the power assistance system is ensured to exert the efficient power assistance effect. And in other gait cycle stages, the memory alloy is controlled to stretch, so that the relaxation of the binding part is realized, and the uncomfortable feeling of the binding part to the user's muscle extrusion is reduced. Therefore, the binding part can be contracted and relaxed more pertinently, the requirements of users on wearing comfort and efficient assistance are considered better, and the user experience is improved.

In order to more clearly illustrate the determination of the movement situation of the user by the control unit 101, fig. 7 shows an exemplary schematic diagram of the structure of the control unit 101.

As shown in fig. 7, the control unit 101 includes a motion scene recognition module 701 and a motion phase recognition module 702. The motion scene recognition module 701 is used for recognizing a motion scene where a user is located, and the motion phase recognition module 702 is used for recognizing each gait phase of the user.

The motion scene and the motion phase have been explained in the embodiment shown in fig. 1, and are not described here again for brevity.

Optionally, the motion scene recognition module 701 includes one or more of a motion data input module, a data preprocessing module (e.g., such as digital conversion and filtering), a feature extraction module, a rules or machine learning model prediction module.

Optionally, the motion phase identification module 702 includes one or more of a motion data input module, a data preprocessing module (e.g., such as digital conversion and filtering), a feature extraction module, a rules or machine learning model prediction module.

Optionally, the control unit 101 further comprises a motion intention recognition module for recognizing a motion scene in which the user is about to be located and/or a motion phase in which the user is about to be located. More specifically, the motion intent recognition module may include one or more of a motion data input module, a data preprocessing module (e.g., processes such as digital conversion and filtering), a feature extraction module, a rules or a machine learning model prediction module.

Optionally, the motion data input module of the motion scene recognition module 701 inputs the obtained motion data, the data preprocessing module preprocesses the input motion data, the feature extraction module performs feature extraction on the preprocessed motion data after the preprocessing is completed, and the rule or machine learning model prediction module determines the motion scene of the user according to the motion data features.

Alternatively, the process of determining the motion phase and the motion intention of the user by the motion phase recognition module 702 according to the motion data is similar to the process of determining the motion scene of the user by the motion scene recognition module 701 according to the motion data.

Optionally, the motion phases identified by the motion phase identification module 702 include a support phase and a wobble phase. The support phase specifically comprises a first grounding period, a bearing reaction period, a support phase middle period, a support phase end period and a swing early period. The specific meaning of each motion phase has been explained in the above term section, and is not repeated here for the sake of brevity. It should be appreciated that the control unit 101 may also include other modules related to the determination of the movement of the user, which is not limited in this application.

It should be understood that the user can also set the motion phase (i.e. the first motion phase) that needs assistance according to the actual requirement, which is not limited in this application.

In the embodiment of the application, the motion scene recognition module located in the control unit recognizes a motion scene where a user is located, and the motion phase recognition module located in the control unit recognizes a motion phase of the user. And when the user is in a scene requiring assistance, determining and controlling the contraction or the extension of the memory alloy according to the identified motion phase of the user. When the motion phase of the user is in the motion phase needing assistance, the control unit controls the memory alloy to shrink, and further fastening of the binding part is achieved, the binding part is tightly attached to the muscle curve of the user, the force application point is prevented from being deviated in the assistance process, and the assistance system achieves efficient assistance. When the user is in a motion phase without assistance, the control unit controls the memory alloy to stretch, so that the binding part is loosened, the squeezing feeling of the user is reduced, and the limb part of the user is loosened. Like this, can make the ligature part contract and relax more pertinently according to user's actual demand to give attention to the demand of user to wearing travelling comfort and high-efficient helping hand better, promote user experience.

Another embodiment of the present application provides a fastening method applied to a fastening device. The fastening device comprises a control unit and a binding part, wherein a memory alloy is distributed in the binding part, and the fastening method comprises the following steps:

the control unit controls the contraction or elongation of the memory alloy to control the degree of tightness between the cinching member and the limb of the user.

For example, when the fastening device is used for providing assistance for a user, when the user needs assistance, the control unit can control the memory alloy to shrink, so that the binding part is clung to the muscle curve of the user, and the force application point is ensured not to deviate in the assistance process, so that the efficient assistance of the assistance system is realized. When the user does not need assistance, the control unit can control the memory alloy to stretch, so that the binding part is loosened, and the limb part of the user is loosened. Like this, this fastener can be according to user's helping hand demand, and the self-adaptation is fastened or is released the ligature part, can guarantee that helping hand system plays efficient helping hand effect, satisfies the user simultaneously to wearing comfortable demand.

On the basis of the fastening method provided in the foregoing embodiment, fig. 8 shows a schematic flowchart of a fastening method 800 provided in an embodiment of the present application, and in combination with fig. 8, the method 800 includes:

step S801: the control unit determines the movement condition of the user;

step S802: the control unit controls the memory alloy to shrink or stretch according to the movement condition of the user.

Optionally, the motion condition of the user includes at least one of a motion scene, a motion phase, and a motion intention.

It should be appreciated that the rest scene includes a sitting scene, a lying scene, etc., non-standing scenes.

Alternatively, the control unit controls the voltage value applied to the memory alloy by controlling the voltage output terminal, thereby controlling the contraction or the extension of the memory alloy. When the control unit determines that the memory alloy needs to be controlled to shrink, the control unit controls the voltage output terminal to reduce the voltage applied to the memory alloy. When the control unit determines that the memory alloy elongation needs to be controlled, the control unit controls the voltage output terminal to increase the voltage applied to the memory alloy.

Fig. 9 shows a schematic flow chart of another fastening method 900 provided in an embodiment of the present application, and in combination with fig. 9, the method includes:

step S901: the sensor unit detects motion data of a user;

alternatively, the sensor unit may be located inside the control unit or may be located outside the control unit, which is not limited in this application.

Step S902: the control unit identifies the current motion scene of the user according to the motion data of the user;

optionally, the control unit receives the motion data of the user sent by the sensor unit and inputs the motion data of the user into the motion scene recognition module. The motion scene recognition module performs preprocessing, feature extraction and rule or machine learning model prediction on the motion data, and recognizes the current motion scene of the user based on the rule or machine learning model.

Alternatively, the sports scene of the user may include walking, running, going up and down stairs, climbing a mountain, skating, swimming, sitting, lying, etc.

Step S903: the control unit identifies the current motion phase of the user according to the motion data of the user;

optionally, the control unit receives the motion data of the user sent by the sensor unit and inputs the motion data of the user to the motion phase identification module. The motion phase identification module performs preprocessing, feature extraction and rule or machine learning model prediction on the motion data, and then identifies the current motion phase of the user based on the rule or machine learning model.

Alternatively, the motion phases identified by the motion phase identification module may include a support phase and a wobble phase. The specific meaning of each motion phase is explained in the above term section, and is not repeated herein for brevity.

It should be appreciated that the division of the first and second motion phases is based on the user's work change at each phase of the gait cycle. In addition, the user can divide the first motion phase and the second motion phase according to the actual power-assisted requirement, and the application is not limited to this.

Alternatively, the embodiment of the present application may include only step S902, only step S903, and also include both step S902 and step S903, which is not limited in this application.

Step S904: the control unit determines whether the user is in the first motion phase, if so, performs step 905 and step 906, and if not, performs step 907;

it should be appreciated that the first motion phase is the motion phase that the user needs assistance and the second motion phase is the motion phase that the user does not need assistance.

Optionally, when the control unit determines that the user is in the first motion phase, the control unit determines to control the memory alloy to shrink, generates a driving signal to control the memory alloy to shrink, and sends the driving signal to control the memory alloy to shrink to the conditioning circuit. When the control unit in the control unit determines that the user is in the second motion phase, the control unit determines to control the elongation of the memory alloy, generates a driving signal for controlling the elongation of the memory alloy, and sends the driving signal for controlling the elongation of the memory alloy to the conditioning circuit.

The control unit comprises, for example, a motion phase recognition module for recognizing individual gait phases of the user. When the gait phase of the user is identified as the weight bearing reaction phase and/or the mid-support phase, the user is determined to be in a first motion phase. And when the gait phase of the user is identified as at least one of the first touchdown period, the end phase of the supporting phase, the early swing phase and the swing phase, determining that the user is in the second motion phase.

Step S905: the control unit controls the memory alloy to shrink;

optionally, the control unit determines the voltage applied to the memory alloy according to the movement condition of the user, and then controls the determined voltage value to be applied to the memory alloy so as to adjust the length of the memory alloy.

Illustratively, a conditioning circuit located in the detection and control system receives the drive signal sent by the control unit to control the contraction of the memory alloy and determines a voltage value applied to the memory alloy based on the received drive signal to control the contraction of the memory alloy. The voltage output end applies the voltage value determined by the conditioning circuit to the memory alloy, so that the temperature of the memory alloy is reduced, the memory alloy dissipates heat and contracts, and the fastening of the binding part is further realized.

It should be understood that, when the conditioning circuit receives the driving signal sent by the control unit to control the shrinkage of the memory alloy, the voltage value applied to the memory alloy determined by the conditioning circuit should be smaller than the voltage value originally applied to both ends of the memory alloy, so that the memory alloy dissipates heat and shrinks.

Step S906: the power unit and the executing mechanism execute power-assisted operation;

in the above steps, the fastening action of the memory alloy on the binding part enables the binding part to be tightly attached to the muscle, so that the force application points are ensured not to deviate in the power assisting process, the power units distributed on the heat insulation layer output the moment required by the knee joint power assisting, the actuating mechanism supports and transmits the moment output by the power units, a supporting moment is formed at the knee joint, the force application points at the upper part and the lower part are pulled to drive the knee joint to rotate or stretch, and further the efficient power assisting of the power assisting system is realized.

Step S907: the control unit controls the memory alloy to extend according to the driving signal.

Illustratively, a conditioning circuit located in the detection and control system receives the drive signal sent by the control unit to control the elongation of the memory alloy and determines a pre-applied voltage value based on the received drive signal to control the elongation of the memory alloy. The voltage output end applies the pre-applied voltage determined by the conditioning circuit to the memory alloy, so that the temperature of the memory alloy rises, the memory alloy stretches, and further the binding part is loosened.

It should be understood that when the conditioning circuit receives the driving signal sent by the control unit to control the elongation of the memory alloy, the voltage value applied to the memory alloy determined by the conditioning circuit should be greater than the voltage value originally applied to both ends of the memory alloy, so that the memory alloy is elongated by heating.

In the embodiment of the application, the motion phase of the user needing assistance and the motion phase of the user not needing assistance are divided, for example, when the fastening device is used for assistance in the walking process of the user, the control unit can intelligently identify the motion scene and the motion phase of the user. At the stage that the user needs the helping hand, control reduces the voltage at memory alloy both ends for memory alloy cooling shrink, and then realize the fastening of binding part, make the binding part hug closely user's muscle curve, ensure that the force application point does not take place the skew in the helping hand in-process, guarantee that helping hand system can exert efficient helping hand effect. And in the stage that the user does not need assistance, the voltage applied to the memory alloy is controlled to be increased, so that the memory alloy is heated and stretched, the binding part is relaxed, and the uncomfortable feeling of the binding part to the user's muscle extrusion is reduced. Therefore, the binding part can contract and relax more pertinently according to the actual demands of the user, the demands of the user on wearing comfort and efficient assistance are considered better, and the user experience is improved.

On the basis of the embodiment shown in fig. 9, fig. 10 shows a schematic flowchart of a further fastening method 1000 provided in an embodiment of the present application, and in combination with fig. 10, before step S901, further includes:

step S1001: starting up and initializing the fastening device;

the startup initialization means that a user starts up the fastening device when the fastening device is to be used, so that the fastening device is initialized and set in an automatic or manual control mode.

It will be appreciated that the initialization settings include the initialization of the parameters of the sensor unit, the initialization of the parameters of the control unit, and the initialization of the parameters of the conditioning circuit and/or the voltage output. The initial values of the parameters may be factory set values or may be automatically adjusted by the fastening device according to the user's usage record.

Step S1002: the control unit pre-applies voltage to the memory alloy; the method of pre-applying the voltage is the same as that described in step S907, and is not repeated here for brevity.

Optionally, the user initiates the fastening device on default to the user about to wear the binding.

Alternatively, the user may manually determine that the cinching feature is about to be worn.

Alternatively, the step S1002 and the step S1001 may be completed in the same program by adding the program parameter related to the pre-applied voltage value to the initialization program.

It should be understood that step S1001 should be performed before step S1002.

In this embodiment, the fastening device is initialized first when the device is started, and each parameter of the device is adjusted to a preset initial value. Before the user wears, the control unit controls pre-stressing the memory alloy so that the memory alloy stretches. When a user wears the outer-layer fixing device, only a small amount of the outer-layer fixing device is needed to be worn at the rough position of the joint of the human body, and very accurate positioning and fastening are not needed. Thus, the process of continuously adjusting the binding position of the binding member by the user is reduced on the basis of the embodiment shown in fig. 9, thereby simplifying the wearing step by the user.

Fig. 11 shows a schematic flow chart of yet another fastening method 1100 provided by an embodiment of the present application, and in combination with fig. 11, the method 1100 includes:

step S1101: the control unit determines that the user is in a rest scene;

optionally, the sensor unit collects motion data of the user and sends the collected motion data to the control unit, and the control unit identifies a motion scene of the user according to the received motion data of the user, for example, when the motion scene in which the user is identified as a non-standing scene, the control unit determines that the user is in a rest scene.

It should be appreciated that the user being in a resting scene includes the user being in a sitting, lying, etc., non-standing scene.

The sensor unit may further comprise an inertial sensor. The inertial sensor detects motion data such as gravitational acceleration and components of acceleration of a limb of a user in three mutually perpendicular directions generated during motion, and sends the motion data to the control unit. When the control unit recognizes that the component fluctuation of the acceleration in three dimensions of X, Y, Z axis is small (for example, the variance in 10 seconds time window is less than 10% x walking process variance) according to the received motion data, the user is in a non-standing state (for example, a is determined by the acceleration component of Y axis) _Y > 0.8 g), the control unit determines that the user is in a rest scene.

Alternatively, the user may manually determine that the user is currently in a resting scene.

Step S1102: the control unit controls the memory alloy to periodically shrink or stretch.

Alternatively, the user can realize the shrinkage or the extension of the memory alloy with different periods and different tightness degrees through parameter setting.

Illustratively, when it is determined that the user is in a resting scene, conditioning circuitry located in the detection and control system generates a sinusoidal voltage drive signal that is periodic for 15 seconds. The memory alloy generates periodic shrinkage change according to the driving signal, and leg muscles covered by the reasonably distributed memory alloy are periodically extruded and relaxed.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein.

In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a read-only memory (ROM), a random access memory (random access memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A fastening device for fastening a limb of a user, the fastening device comprising:

a binding part, wherein a memory alloy is arranged in the binding part;

a control unit for:

determining a motion situation of the user, wherein the motion situation of the user comprises at least one of a motion scene, a motion phase and a motion intention of the user;

and controlling the contraction or the extension of the memory alloy according to the movement condition of the user so as to control the tightness degree between the binding part and the limb of the user.

2. Fastening device according to claim 1, characterized in that the control unit is specifically adapted to:

acquiring motion data of the user, wherein the motion data of the user comprise components of acceleration in three mutually perpendicular directions, and the acceleration comprises gravitational acceleration and acceleration generated by limbs of the user in a motion process;

and determining the movement condition of the user according to the movement data of the user.

3. The fastening device according to claim 1 or 2, wherein the sports scene includes any one of a walking scene, a running scene, a stair climbing scene, a mountain climbing scene, a skating scene, a swimming scene, a resting scene.

4. The fastening device of claim 1 or 2, wherein the motion phases comprise a first motion phase comprising a load bearing reaction phase or a mid-support phase and a second motion phase comprising at least one of a first touchdown phase, an end-support phase, a pre-swing phase, and a swing phase.

5. Fastening device according to claim 4, characterized in that the control unit is specifically adapted to:

controlling the memory alloy to contract when the user is in the first motion phase to provide assistance to the user;

or alternatively, the first and second heat exchangers may be,

when the user is in the second motion phase, the memory alloy is controlled to elongate so as not to provide assistance to the user.

6. The fastening device of any one of claims 1 to 5, wherein the motion intent is used to indicate the motion scene or the motion phase in which the user is about to be.

7. Fastening device according to any one of claims 1 to 6, characterized in that the control unit is specifically adapted to:

determining a voltage applied to the memory alloy according to the movement condition of the user;

Controlling the voltage to be applied to the memory alloy to adjust the length of the memory alloy.

8. The fastening device of any one of claims 3 to 7, wherein the control unit is further configured to:

and when the user is in the rest scene, controlling the memory alloy to periodically shrink and stretch.

9. The fastening device of any one of claims 1 to 8, wherein the control unit is further configured to:

the memory alloy is pre-energized before the user wears the cinch.

10. The fastening device of any one of claims 1 to 9, wherein the cinch further comprises:

and the memory alloy is distributed in the heat insulation layer, and the heat insulation layer is used for heat insulation between the memory alloy and the user.

11. A fastening device according to any one of claims 1 to 10, wherein the cinch member is for cinching at the knee joint of the user.

12. A fastening method, characterized in that it is applied to a fastening device comprising a control unit and a binding part in which a memory alloy is arranged, the fastening method comprising:

The control unit determines the motion situation of the user, wherein the motion situation of the user comprises at least one of a motion scene, a motion phase and a motion intention of the user;

the control unit controls the contraction or the extension of the memory alloy according to the movement condition of the user so as to control the tightness degree between the binding part and the limb of the user.

13. The fastening method according to claim 12, wherein the control unit determining a movement condition of the user comprises:

the control unit acquires motion data of the user, wherein the motion data of the user comprises components of acceleration in three mutually perpendicular directions, and the acceleration comprises gravitational acceleration and acceleration generated by limbs of the user in the motion process;

the control unit determines the movement condition of the user according to the movement data of the user.

14. The fastening method according to claim 12 or 13, wherein the sports scene includes any one of a walking scene, a running scene, a stair climbing scene, a mountain climbing scene, a skating scene, a swimming scene, and a resting scene.

15. Fastening method according to claim 12 or 13, characterized in that the motion phases comprise a first motion phase comprising a load bearing reaction phase and/or a mid-support phase and a second motion phase comprising at least one of a first touchdown phase, a last support phase, a pre-swing phase, a swing phase.

16. The fastening method according to claim 15, wherein the control unit controls contraction or elongation of the memory alloy according to the movement condition of the user, comprising:

when the user is in the first motion phase, the control unit controls the memory alloy to shrink so as to provide assistance for the user;

or alternatively, the first and second heat exchangers may be,

the control unit controls the memory alloy to elongate so as not to provide assistance to the user when the user is in the second motion phase.

17. The fastening method according to any one of claims 12 to 16, characterized in that the motion intention is used to indicate the motion scene or the motion phase in which the user is about to be.

18. The fastening method according to any one of claims 12 to 17, wherein the control unit controls contraction or elongation of the memory alloy according to the movement of the user, further comprising:

the control unit determines the voltage applied to the memory alloy according to the movement condition of the user;

the control unit controls the voltage to be applied to the memory alloy to adjust the length of the memory alloy.

19. The fastening method according to any one of claims 14 to 18, characterized in that the fastening method further comprises:

20. The fastening method according to any one of claims 12 to 19, characterized in that the fastening method further comprises:

the control unit controls pre-stressing of the memory alloy before the user wears the border element.

21. A computer readable storage medium comprising computer instructions which, when run on an electronic device, cause the electronic device to perform the fastening method of any one of claims 12 to 20.

22. A computer program product, characterized in that the computer program product, when executed by a computer, implements the fastening method according to any one of claims 12 to 20.

23. A chip comprising a processor and a data interface, the processor reading instructions stored on a memory via the data interface to perform the method of any of claims 12 to 20.

24. A wearable device comprising a fastening device according to any one of claims 1 to 11 and a power assisting system for providing power assistance to a user.