CN116999288A - Autonomous standing method of exoskeleton device and exoskeleton device - Google Patents

Abstract

The application provides an autonomous standing method of exoskeleton equipment and the exoskeleton equipment, the method is applied to the exoskeleton equipment comprising a driving device and a waist component, a leg component and a foot component which are connected in sequence, when the fact that the user meets wearing conditions is detected, the foot of the user is fixed on the foot component, the leg component and the waist component are adjusted through the driving device, so that the joint of the leg component and the waist component is positioned on two sides of a hip joint of a human body, and the waist component is abutted against the waist of the human body, and the autonomous standing of the exoskeleton equipment is completed. The scheme provided by the application is controlled according to the natural posture of the human body, is more in line with the natural posture and the gravity center of the human body, can more rapidly reflect the posture adjustment of the human body through the adjustment of the driving device, greatly improves the stability and the safety of exoskeleton equipment, and can more accurately match the body characteristics of different users by adopting a non-mounting design of the equipment, thereby improving the use comfort and the stability.

Description

Autonomous standing method of exoskeleton device and exoskeleton device

Technical Field

The application belongs to the technical field of exoskeleton, and particularly relates to an autonomous standing method of exoskeleton equipment and the exoskeleton equipment.

Background

The exoskeleton technology is a reinforced robot technology and is widely applied to the fields of rehabilitation, military and the like. The development of exoskeleton technology has enabled people to guarantee their stability and safety even when there are handicapped or ordinary people are performing certain high-load tasks.

Currently, exoskeleton technology has developed various types of exoskeleton devices, such as lower limb exoskeleton, upper limb exoskeleton, whole body exoskeleton, etc., that can be worn by humans. The exoskeleton device can enhance the strength, flexibility and endurance of human beings, interact with muscles and nervous systems of the human body through various hardware devices such as sensors and actuators, convert physical actions of the human body and derivatives thereof into electronic signals, and transmit the signals to external programs to realize natural upgrading of physiological exercise functions.

The standing function of the existing exoskeleton device is mainly achieved through electromechanical linkage, including maintaining the stability of the body directly through a mechanical mode, or achieving posture control of the body through a driving device, and the like, and a part of complex exoskeleton devices can also need to perform a large number of operation steps so as to drive each part correctly, so that a user is difficult to learn to use, and especially for the old, the old takes a longer time to learn to use, and experience is not friendly.

Disclosure of Invention

To overcome the above-mentioned drawbacks of the prior art, the present application proposes a method of autonomous standing of an exoskeleton device, applied to an exoskeleton device comprising a driving means and a lumbar assembly, a leg assembly, and a foot assembly connected in sequence, the method comprising:

if the user is detected to meet the wearing condition, fixing the feet of the user on the foot component;

the leg assemblies and the waist assemblies are adjusted through the driving device, so that the joints of the leg assemblies and the waist assemblies are located on two sides of the hip joints of a human body, and the waist assemblies are abutted against the waist of the human body, and the autonomous standing of the exoskeleton equipment is completed.

Specifically, the leg assembly includes two leg supports for supporting left and right legs of a human body, respectively, any one of the leg supports includes a thigh auxiliary lever and a shank auxiliary lever, one end of the thigh auxiliary lever is rotatably connected with the waist support, and the other end is rotatably connected with the shank auxiliary lever, and the "adjusting the leg assembly and the waist assembly by the driving device" includes:

by means of the driving device, the amplitude of rotation between the thigh support bar and the waist member is adjusted, and the amplitude of rotation between the thigh support bar and the shank support bar is adjusted.

Specifically, the driving device comprises a waist motor arranged at the joint of the thigh auxiliary rod and the waist support, and the adjusting the rotation amplitude between the thigh auxiliary rod and the waist component comprises the following steps:

the rotation amplitude between the thigh auxiliary lever and the waist member is directly adjusted by the waist motor.

Optionally, the driving device further includes a leg motor disposed on the leg support, any one of the leg supports further includes a first transmission rod and a second transmission rod, two ends of the first transmission rod are respectively rotatably connected with the thigh auxiliary rod and a first end of the second transmission rod, a second end of the second transmission rod is rotatably connected with the shank auxiliary rod, and the "adjusting a rotation range between the thigh auxiliary rod and the shank auxiliary rod" includes:

directly adjusting the rotation amplitude between the thigh auxiliary lever and the shank auxiliary lever by the leg motor;

or, the leg motor is used for adjusting the rotation amplitude between the thigh auxiliary rod and the first transmission rod so as to indirectly adjust the rotation amplitude between the thigh auxiliary rod and the shank auxiliary rod;

or, the leg motor is used for adjusting the rotation amplitude between the lower leg auxiliary rod and the second transmission rod so as to indirectly adjust the rotation amplitude between the thigh auxiliary rod and the lower leg auxiliary rod;

or, the rotation amplitude between the thigh auxiliary rod and the shank auxiliary rod is indirectly adjusted by adjusting the rotation amplitude between the first transmission rod and the second transmission rod through the leg motor.

Optionally, the "adjusting the leg assembly and the waist assembly by the driving device so that the connection between the leg assembly and the waist assembly is located at two sides of the hip joint of the human body and the waist assembly is abutted against the waist of the human body" includes:

the rotation amplitude between the thigh auxiliary rod and the shank auxiliary rod is firstly adjusted through the driving device, and after the joint of the thigh auxiliary rod and the waist component is positioned at two sides of the hip joint of the human body, the rotation amplitude between the thigh auxiliary rod and the waist component is adjusted through the driving device, so that the waist component is propped against the waist of the human body;

or, the rotation amplitude between the thigh auxiliary rod and the shank auxiliary rod is adjusted through the driving device, and the rotation amplitude between the thigh auxiliary rod and the waist component is adjusted, so that the joint of the thigh auxiliary rod and the waist component is positioned on two sides of the hip joint of the human body, and the waist component is abutted against the waist of the human body.

Optionally, the "adjusting the rotation amplitude between the thigh assist lever and the waist member by the driving device, and adjusting the rotation amplitude between the thigh assist lever and the shank assist lever" includes:

increasing a first angle between the thigh auxiliary lever and the shank auxiliary lever by the driving device until the first angle reaches a first preset angle value; increasing a second angle between the lumbar assembly and the thigh support lever by the drive means until the second angle reaches a second preset angle value; the first preset angle value is 135-180 degrees, and the second preset angle value is 160-210 degrees;

or, add first locating part and second locating part, make drive arrangement based on the spacing of first locating part is fixed thigh auxiliary rod with the relative angle between the waist subassembly, based on the spacing of second locating part is fixed thigh auxiliary rod with the relative angle between the shank auxiliary rod.

Preferably, a first pressure sensor is disposed on an abutting side of the lumbar component against the lumbar of the human body, and the "adjusting the leg component and the lumbar component by the driving device to make the lumbar component abut against the lumbar of the human body" further includes:

the leg assembly and the waist assembly are adjusted through the driving device until the pressure born by the first pressure sensor exceeds a preset first pressure value, and the waist assembly is judged to be abutted against the waist of the human body;

or, the inner side of the waist component is provided with a photosensitive sensor, and the 'adjusting the leg component and the waist component by the driving device to enable the waist component to lean against the waist of the human body' further comprises:

and adjusting the leg assembly and the waist assembly through the driving device until the illumination intensity sensed by the photosensitive sensor is lower than a preset illumination intensity value, and judging that the waist assembly abuts against the waist of the human body.

Preferably, the foot assembly includes a shoe plate and a second pressure sensor embedded in the shoe plate, and the detecting whether the user satisfies the wearing condition includes:

judging whether the pressure born by the shoe plate exceeds a preset second pressure value or not through the second pressure sensor;

and if the pressure born by the shoe plate exceeds the second pressure value, judging that the user meets the wearing condition.

Further, the exoskeleton device further comprises a locking assembly, the driving device further comprises an ankle motor arranged at the joint of the leg assembly and the foot assembly, the locking assembly comprises a locking rod, a locking groove and a third limiting piece for limiting the ankle motor, and the 'fixing the leg assembly to be connected with the leg of the human body' comprises:

adjusting a magnitude of rotation between the foot assembly and the leg assembly by the ankle motor and fixing a relative angle between the foot assembly and the leg assembly based on the third limiter;

the driving device controls the locking rod to be inserted into the locking groove so as to fix the connection between the foot component and the foot of the human body.

The method further comprises the steps of:

after the user completes wearing the exoskeleton device, detecting whether the user meets a release condition;

if so, adjusting the leg assemblies and the waist assembly through the driving device so that the leg assemblies and the waist assembly fall down and are placed on a plane where the user stands in an initial state;

and releasing the fixing of the foot of the user and the foot component.

The application also proposes an exoskeleton device for implementing the autonomous standing method of an exoskeleton device as described above.

The application has at least the following beneficial effects:

according to the scheme provided by the application, after the exoskeleton equipment detects that the user meets the wearing conditions, the leg components and the waist components are adjusted through the driving device so as to independently finish standing, the user support is not needed, and the comfort and the stability of the exoskeleton equipment for the wearer are improved; the driving device can adjust the rotation amplitude between the thigh auxiliary rod and the waist component and the rotation amplitude between the thigh auxiliary rod and the shank auxiliary rod, so that the connection part of the leg component and the waist component is positioned at two sides of the hip joint of the human body, the waist component is abutted against the waist of the human body, the principle of ergonomics and human posture is met, and the comfort and standing stability of the user are improved;

the driving device can fix the angle between the thigh auxiliary rod and the waist component and the relative angle between the thigh auxiliary rod and the shank auxiliary rod through the first limiting piece and the second limiting piece, and can judge that the waist component is propped against the waist of a human body through arranging the pressure sensor on the propping side of the waist component, thereby helping to adjust the leg component and the waist component and improving the comfort and the fitting degree of the contact part of the human body;

in addition, the pressure sensor that the foot subassembly set up can detect whether the user satisfies the wearing condition, still is provided with the third locating part that is used for playing spacing effect to the ankle motor to this fixed foot subassembly is connected with human foot, has increased the stability of ectoskeleton equipment, has improved the security that the user dressed.

Therefore, the application provides an autonomous standing method of exoskeleton equipment and the exoskeleton equipment, the scheme provided by the application is controlled according to the natural posture of a human body, the natural posture and the gravity center of the human body are more met, the posture adjustment of the human body can be reflected more quickly through the adjustment of a driving device, the stability and the safety of the exoskeleton equipment are greatly improved, the equipment adopts a non-mounting design, the physical characteristics of different users can be more accurately matched, and the use comfort and the stability are improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a flow chart of a method of autonomous standing of an exoskeleton device provided in example 1;

FIG. 2 is a flow chart of a method of releasing an exoskeleton device;

FIG. 3 is a schematic illustration of an exoskeleton device in a state of being worn by a user;

FIG. 4 is a schematic illustration of an exoskeleton device in a state midway through the autonomous standing process;

fig. 5 is a schematic view of an exoskeleton device in a state of completing autonomous standing.

Reference numerals

21-a drive device; 22-lumbar component; a 23-leg assembly; 24-foot assembly; 211-waist motor; 212-leg motor; 231-thigh auxiliary bar; 232-a shank auxiliary rod; 233-a first drive rod; 234-a second drive rod.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

Hereinafter, various embodiments of the present application will be described more fully. The application is capable of various embodiments and of modifications and variations therein. However, it should be understood that: there is no intention to limit the various embodiments of the application to the specific embodiments disclosed herein, but rather the application is to be understood to cover all modifications, equivalents, and/or alternatives falling within the spirit and scope of the various embodiments of the application.

Hereinafter, the terms "comprises" or "comprising" as may be used in various embodiments of the present application indicate the presence of the disclosed functions, operations or elements, and are not limiting of the addition of one or more functions, operations or elements. Furthermore, as used in various embodiments of the application, the terms "comprises," "comprising," and their cognate terms are intended to refer to a particular feature, number, step, operation, element, component, or combination of the foregoing, and should not be interpreted as first excluding the existence of or increasing likelihood of one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing.

In various embodiments of the application, the expression "or" at least one of a or/and B "includes any or all combinations of the words listed simultaneously. For example, the expression "a or B" or "at least one of a or/and B" may include a, may include B or may include both a and B.

Expressions (such as "first", "second", etc.) used in the various embodiments of the application may modify various constituent elements in the various embodiments, but the respective constituent elements may not be limited. For example, the above description does not limit the order and/or importance of the elements. The above description is only intended to distinguish one element from another element. For example, the first user device and the second user device indicate different user devices, although both are user devices. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of various embodiments of the present application.

It should be noted that: in the present application, unless explicitly specified and defined otherwise, terms such as "mounted," "connected," "secured," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium; may be a communication between the interiors of the two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present application, it should be understood by those of ordinary skill in the art that the terms indicating an orientation or a positional relationship are based on the orientation or positional relationship shown in the drawings, and are merely for convenience of description and simplicity of description, not to indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the application.

The terminology used in the various embodiments of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the various embodiments of the application. As used herein, the singular is intended to include the plural as well, unless the context clearly indicates otherwise. Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which various embodiments of the application belong. The terms (such as those defined in commonly used dictionaries) will be interpreted as having a meaning that is the same as the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein in connection with the various embodiments of the application.

Example 1

Referring to fig. 1 and 3-5, the present embodiment provides an autonomous standing method of an exoskeleton device, which includes a driving device and a waist assembly, a leg assembly and a foot assembly sequentially connected. The autonomous standing method of the exoskeleton device provided in the embodiment specifically includes:

s110: detecting whether a user meets wearing conditions;

if it is detected that the user satisfies the wearing condition, step S120 is executed.

In this embodiment, the foot component includes a shoe plate and a second pressure sensor embedded in the shoe plate, and step S110 specifically includes:

judging whether the pressure born by the shoe plate exceeds a preset second pressure value or not through the second pressure sensor, and judging that the user meets the wearing condition if the pressure born by the shoe plate exceeds the second pressure value.

S120: securing the user's foot to the foot assembly.

S130: the leg components and the waist components are adjusted through the driving device, so that the joints of the leg components and the waist components are positioned on two sides of the hip joint of the human body, and the waist components are abutted against the waist of the human body, and the autonomous standing of the exoskeleton device is completed.

In this embodiment, the leg assembly includes two leg support that are used for supporting human left leg and right leg respectively, and arbitrary leg support includes thigh auxiliary rod and shank auxiliary rod, and the one end and the waist support of thigh auxiliary rod rotate to be connected, and the other end is rotated with shank auxiliary rod to be connected, step S130 the leg assembly is adjusted through drive arrangement include:

adjusting the rotation amplitude between the thigh auxiliary lever and the waist component and the rotation amplitude between the thigh auxiliary lever and the shank auxiliary lever by the driving device; specifically, the method can also comprise the following steps:

the rotation amplitude between the thigh auxiliary rod and the shank auxiliary rod is firstly adjusted through the driving device, and after the joint of the thigh auxiliary rod and the waist component is positioned at two sides of the hip joint of the human body, the rotation amplitude between the thigh auxiliary rod and the waist component is adjusted through the driving device, so that the waist component is propped against the waist of the human body;

or, the rotation amplitude between the thigh auxiliary rod and the shank auxiliary rod is regulated through the driving device, and the rotation amplitude between the thigh auxiliary rod and the waist component is regulated, so that the joint of the thigh auxiliary rod and the waist component is positioned at two sides of the hip joint of the human body, and the waist component is abutted against the waist of the human body.

Specifically, the driving device comprises a waist motor arranged at the joint of the thigh auxiliary rod and the waist support, a leg motor arranged on the leg support, a first transmission rod and a second transmission rod, wherein the two ends of the first transmission rod are respectively and rotatably connected with the thigh auxiliary rod and the first end of the second transmission rod, and the second end of the second transmission rod is rotatably connected with the shank auxiliary rod;

the leg motor may be provided at a junction of the thigh assist lever and the shank assist lever, a junction of the thigh assist lever and the first transmission lever, a junction of the shank assist lever and the second transmission lever, or a junction of the first transmission lever and the second transmission lever.

"adjusting the amplitude of rotation between the thigh assist lever and the lumbar assembly" includes:

the rotation amplitude between the thigh auxiliary rod and the waist component is directly regulated through the waist motor.

The "adjusting the rotation amplitude between the thigh assist lever and the shank assist lever" includes:

directly adjusting the rotation amplitude between the thigh auxiliary rod and the shank auxiliary rod through a leg motor;

or, the rotation amplitude between the thigh auxiliary rod and the shank auxiliary rod is indirectly adjusted by adjusting the rotation amplitude between the thigh auxiliary rod and the first transmission rod through the leg motor;

or, the rotation amplitude between the thigh auxiliary rod and the shank auxiliary rod is indirectly adjusted by adjusting the rotation amplitude between the shank auxiliary rod and the second transmission rod through the leg motor;

or, the rotation amplitude between the thigh auxiliary rod and the shank auxiliary rod is indirectly adjusted by adjusting the rotation amplitude between the first transmission rod and the second transmission rod through the leg motor.

The rotation amplitude between the thigh auxiliary rod and the waist component is adjusted through the waist motor, and the rotation amplitude between the thigh auxiliary rod and the shank auxiliary rod is adjusted through the leg motor, so that the exoskeleton device autonomous standing method provided by the embodiment is realized, and the exoskeleton device is also used for assisting a user in hip joint movement and knee joint movement when the user wears the exoskeleton device.

Preferably, the rotation amplitude in step S130 may be preset so that the leg unit and the waist unit are stopped at the set positions, and the purpose of positioning the connection between the leg unit and the waist unit at both sides of the hip joint of the human body and positioning the waist unit against the waist of the human body is achieved. The "adjusting the rotation amplitude between the thigh link and the waist member, and the rotation amplitude between the thigh link and the shank link by the driving device" includes:

increasing a first angle between the thigh auxiliary rod and the shank auxiliary rod through the leg motor until the first angle reaches a first preset angle value; increasing a second angle between the waist component and the thigh auxiliary rod through the waist motor until the second angle reaches a second preset angle value; preferably, the first preset angle value is 135 ° -180 °, and the second preset angle value is 160 ° -210 °; increasing the angular velocity of the first angle between the thigh assist lever and the shank assist lever by the leg motor may be a preset rate, which in one particular embodiment may preferably be 0.5rad/s-2rad/s;

or, add first locating part and second locating part, make shank motor fixed thigh auxiliary rod based on the spacing of first locating part and the relative angle between the waist subassembly, make waist motor fixed thigh auxiliary rod based on the spacing of second locating part and the relative angle between the shank auxiliary rod.

Optionally, the first pressure sensor may be further disposed on an abutting side of the waist component and the waist of the human body, and the first pressure sensor is used to determine whether the waist component abuts against the waist of the human body, and the "adjusting the leg component and the waist component by the driving device to make the waist component abut against the waist of the human body" further includes:

and adjusting the leg assembly and the waist assembly through the driving device until the pressure born by the first pressure sensor exceeds a preset first pressure value, and judging that the waist assembly abuts against the waist of the human body.

Optionally, the light sensor may be further disposed at an inner side of the waist component, when the waist component abuts against the waist of the human body, the waist of the human body is blocked and bright, which may cause the light intensity sensed by the light sensor to decrease, so that the light sensor may determine whether the waist component abuts against the waist of the human body, and the "adjusting the leg component and the waist component by the driving device to make the waist component abut against the waist of the human body" further includes:

the leg assembly and the waist assembly are adjusted through the driving device, and the waist assembly is judged to be abutted against the waist of the human body until the perceived illumination intensity of the photosensitive sensor is lower than a preset illumination intensity value.

Further, the exoskeleton device further comprises a locking assembly, the driving device further comprises an ankle motor arranged at the joint of the leg assembly and the foot assembly, wherein the locking assembly comprises a locking rod, a locking groove and a third limiting piece for limiting the ankle motor, and the step S120 comprises:

adjusting the rotation amplitude between the foot component and the leg component through the ankle motor, and fixing the relative angle between the foot component and the leg component based on the third limiting piece;

the locking rod is controlled by the driving device to be inserted into the locking groove so as to fix the connection between the leg component and the shank of the human body.

It should also be noted that, by changing the rotation amplitude between the foot component and the leg component through the ankle motor, that is, by changing the rotation amplitude between the shank auxiliary rod and the shoe component, the method is used for helping to realize the autonomous standing method of the exoskeleton device provided by the embodiment, and also is used for assisting the user in performing ankle joint movement when the user wears the exoskeleton device.

In one particular embodiment, the amplitude of rotation between the second auxiliary rod and the shoe portion assembly is a fixed value when the exoskeleton device is not being worn by the user.

Further, referring to fig. 2, the present embodiment further provides a method for releasing an exoskeleton device when a user wants to take off the exoskeleton device, the method comprising:

s210: after the user completes wearing the exoskeleton device, detecting whether the user meets a release condition;

if it is detected that the user satisfies the release condition, step S220 is executed.

Optionally, a release switch may be provided on the exoskeleton device to determine that the user satisfies the release condition when the user triggers the release switch.

Optionally, the waist unit comprises a waistband for fixing the waist unit and the waist of the user, at least two metal contacts can be arranged on the waistband, when the user finishes wearing the exoskeleton device, the waistband is required to be tensioned for fixing connection, and the position relationship among the metal contacts is a first relationship; when the user releases the exoskeleton device, the waistband is loosened to release the connection, the positional relationship among the metal contacts is a second relationship, and when the positional relationship among the metal contacts is the second relationship, the user is judged to meet the release condition.

For example, two metal contacts are arranged on the waistband, and when a user finishes wearing the exoskeleton device, the waistband is required to be tensioned to be fixedly connected, and the two metal contacts are contacted with each other; when the user releases the exoskeleton device, the waistband is loosened to release the connection, and the two metal contacts are separated from each other, so that when the two metal contacts are separated from each other, the user can be judged to meet the release condition.

S220: the leg unit and the waist unit are adjusted by the driving means so that the leg unit and the waist unit fall down and are placed in an initial state on a plane on which the user stands.

It should be noted that, the initial state is a state when the user does not wear the exoskeleton device.

S230: the foot of the user is released from the foot component.

The manner of adjusting the leg unit and the waist unit by the driving device in step S220 is opposite to the manner of adjusting the leg unit and the waist unit by the driving device in step S120.

Example 2

Referring to fig. 3-5, the present embodiment provides an exoskeleton device for implementing the autonomous standing method of the exoskeleton device described in embodiment 1, which includes a driving device 21 and an exoskeleton device including a waist assembly 22, a leg assembly 23 and a foot assembly 24 connected in sequence.

Specifically, the leg unit 23 includes two leg brackets for supporting the left and right legs of the human body, respectively, and either leg bracket includes a thigh support bar 231 and a shank support bar 232, one end of the thigh support bar 231 is rotatably connected with the waist bracket 22, and the other end is rotatably connected with the shank support bar 232.

Specifically, the driving device includes a waist motor 211 disposed at the connection between the thigh auxiliary lever 231 and the waist support 22, and a leg motor 212 disposed on the leg support, wherein any leg support further includes a first transmission lever 233 and a second transmission lever 234, two ends of the first transmission lever 233 are respectively rotatably connected with the first ends of the thigh auxiliary lever 231 and the second transmission lever 234, and a second end of the second transmission lever 234 is rotatably connected with the shank auxiliary lever 232;

the leg motor 212 may be disposed at a junction of the thigh support lever 231 and the shank support lever 232, a junction of the thigh support lever 231 and the first transmission lever 233, a junction of the shank support lever 232 and the second transmission lever 234, or a junction of the first transmission lever 233 and the second transmission lever 234, and the leg motor 212 is disposed at a junction of the thigh support lever 231 and the first transmission lever 233 in this embodiment.

In summary, the application provides an autonomous standing method of exoskeleton equipment and exoskeleton equipment, and the scheme provided by the application is controlled according to the natural posture of a human body, so that the method is more in line with the natural posture and the gravity center of the human body, the posture adjustment of the human body can be reflected more quickly through the adjustment of a driving device, the stability and the safety of the exoskeleton equipment are greatly improved, the equipment adopts a non-mounting design, the physical characteristics of different users can be matched more accurately, and the use comfort and the stability are improved.

The foregoing description of the preferred embodiments of the application is not intended to limit the application to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the application are intended to be included within the scope of the application.

Claims (10)

1. A method of autonomous standing of an exoskeleton device, applied to an exoskeleton device comprising a driving means and a lumbar assembly, a leg assembly, and a foot assembly connected in sequence, the method comprising:

if the user is detected to meet the wearing condition, fixing the feet of the user on the foot component;

the leg assemblies and the waist assemblies are adjusted through the driving device, so that the joints of the leg assemblies and the waist assemblies are located on two sides of the hip joints of a human body, and the waist assemblies are abutted against the waist of the human body, and the autonomous standing of the exoskeleton equipment is completed.

2. The autonomous standing method of an exoskeleton device according to claim 1, wherein the leg assembly includes two leg brackets for supporting left and right legs of a human body, respectively, any one of the leg brackets includes a thigh assist lever and a shank assist lever, one end of the thigh assist lever is rotatably connected with the waist bracket, the other end is rotatably connected with the shank assist lever, the "adjusting the leg assembly and the waist assembly by the driving means" includes:

by means of the driving device, the amplitude of rotation between the thigh support bar and the waist member is adjusted, and the amplitude of rotation between the thigh support bar and the shank support bar is adjusted.

3. The method of autonomous standing of an exoskeleton device according to claim 2, wherein the driving means includes a lumbar motor provided at a junction of the thigh support bar and the lumbar support, and the adjusting the rotation amplitude between the thigh support bar and the lumbar assembly includes:

the rotation amplitude between the thigh auxiliary lever and the waist member is directly adjusted by the waist motor.

4. The autonomous standing method of an exoskeleton device according to claim 2, wherein the driving means further comprises a leg motor provided to the leg support, any one of the leg supports further comprises a first transmission lever and a second transmission lever, both ends of the first transmission lever are rotatably connected to the thigh auxiliary lever and the first end of the second transmission lever, respectively, and the second end of the second transmission lever is rotatably connected to the shank auxiliary lever, and the "adjusting the rotation amplitude between the thigh auxiliary lever and the shank auxiliary lever" includes:

directly adjusting the rotation amplitude between the thigh auxiliary lever and the shank auxiliary lever by the leg motor;

or, the leg motor is used for adjusting the rotation amplitude between the thigh auxiliary rod and the first transmission rod so as to indirectly adjust the rotation amplitude between the thigh auxiliary rod and the shank auxiliary rod;

or, the leg motor is used for adjusting the rotation amplitude between the lower leg auxiliary rod and the second transmission rod so as to indirectly adjust the rotation amplitude between the thigh auxiliary rod and the lower leg auxiliary rod;

or, the rotation amplitude between the thigh auxiliary rod and the shank auxiliary rod is indirectly adjusted by adjusting the rotation amplitude between the first transmission rod and the second transmission rod through the leg motor.

5. The method of autonomous standing of an exoskeleton device according to claim 2, wherein said adjusting the leg assemblies and the waist assembly by the driving means such that the connection of the leg assemblies and the waist assembly is located on both sides of the hip joint of the human body and the waist assembly is abutted against the waist of the human body comprises:

the rotation amplitude between the thigh auxiliary rod and the shank auxiliary rod is firstly adjusted through the driving device, and after the joint of the thigh auxiliary rod and the waist component is positioned at two sides of the hip joint of the human body, the rotation amplitude between the thigh auxiliary rod and the waist component is adjusted through the driving device, so that the waist component is propped against the waist of the human body;

or, the rotation amplitude between the thigh auxiliary rod and the shank auxiliary rod is adjusted through the driving device, and the rotation amplitude between the thigh auxiliary rod and the waist component is adjusted, so that the joint of the thigh auxiliary rod and the waist component is positioned on two sides of the hip joint of the human body, and the waist component is abutted against the waist of the human body.

6. The method of autonomous standing of an exoskeleton device according to claim 2, wherein the adjusting the rotational amplitude between the thigh assist lever and the waist member, and the adjusting the rotational amplitude between the thigh assist lever and the shank assist lever by the driving means, comprises:

increasing a first angle between the thigh auxiliary lever and the shank auxiliary lever by the driving device until the first angle reaches a first preset angle value; increasing a second angle between the lumbar assembly and the thigh support lever by the drive means until the second angle reaches a second preset angle value; the first preset angle value is 135-180 degrees, and the second preset angle value is 160-210 degrees;

or, add first locating part and second locating part, make drive arrangement based on the spacing of first locating part is fixed thigh auxiliary rod with the relative angle between the waist subassembly, based on the spacing of second locating part is fixed thigh auxiliary rod with the relative angle between the shank auxiliary rod.

7. The method of autonomous standing of an exoskeleton device according to claim 1, wherein an abutment side of the lumbar assembly with the lumbar of the human body is provided with a first pressure sensor, and the adjusting the leg assembly and the lumbar assembly by the driving means, causing the lumbar assembly to abut against the lumbar of the human body, further comprises:

the leg assembly and the waist assembly are adjusted through the driving device until the pressure born by the first pressure sensor exceeds a preset first pressure value, and the waist assembly is judged to be abutted against the waist of the human body;

or, the inner side of the waist component is provided with a photosensitive sensor, and the 'adjusting the leg component and the waist component by the driving device to enable the waist component to lean against the waist of the human body' further comprises:

the leg components and the waist components are adjusted through the driving device until the illumination intensity sensed by the photosensitive sensor is lower than a preset illumination intensity value, and the waist components are judged to be abutted against the waist of a human body;

the foot assembly includes a shoe plate and a second pressure sensor embedded in the shoe plate, and the detecting whether the user satisfies wearing conditions includes:

judging whether the pressure born by the shoe plate exceeds a preset second pressure value or not through the second pressure sensor;

and if the pressure born by the shoe plate exceeds the second pressure value, judging that the user meets the wearing condition.

8. The method of autonomous standing an exoskeleton device according to claim 1 or 7, further comprising a locking assembly, the driving means further comprising an ankle motor provided at the junction of the leg assembly and the foot assembly, the locking assembly comprising a locking bar, a locking groove and a third stop for stopping the ankle motor, the "fixing the connection of the leg assembly to the leg of the human body" comprising:

adjusting a magnitude of rotation between the foot assembly and the leg assembly by the ankle motor and fixing a relative angle between the foot assembly and the leg assembly based on the third limiter;

the driving device controls the locking rod to be inserted into the locking groove so as to fix the connection between the foot component and the foot of the human body.

9. The method of autonomous standing of an exoskeleton device of claim 1, further comprising:

after the user completes wearing the exoskeleton device, detecting whether the user meets a release condition;

if so, adjusting the leg assemblies and the waist assembly through the driving device so that the leg assemblies and the waist assembly fall down and are placed on a plane where the user stands in an initial state;

and releasing the fixing of the foot of the user and the foot component.

10. Exoskeleton device, characterized by a method for implementing autonomous standing of an exoskeleton device according to any of claims 1 to 9.