CN117357313A - Resistance control method and device based on intention switching, artificial limb, terminal and medium - Google Patents

Resistance control method and device based on intention switching, artificial limb, terminal and medium Download PDF

Info

Publication number
CN117357313A
CN117357313A CN202311677989.5A CN202311677989A CN117357313A CN 117357313 A CN117357313 A CN 117357313A CN 202311677989 A CN202311677989 A CN 202311677989A CN 117357313 A CN117357313 A CN 117357313A
Authority
CN
China
Prior art keywords
real
resistance
time
information
intention
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202311677989.5A
Other languages
Chinese (zh)
Other versions
CN117357313B (en
Inventor
韩璧丞
汪文广
阿迪斯
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhejiang Qiangnao Technology Co ltd
Original Assignee
Zhejiang Qiangnao Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zhejiang Qiangnao Technology Co ltd filed Critical Zhejiang Qiangnao Technology Co ltd
Priority to CN202311677989.5A priority Critical patent/CN117357313B/en
Publication of CN117357313A publication Critical patent/CN117357313A/en
Application granted granted Critical
Publication of CN117357313B publication Critical patent/CN117357313B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/60—Artificial legs or feet or parts thereof
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2002/5003—Prostheses not implantable in the body having damping means, e.g. shock absorbers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • A61F2002/701—Operating or control means electrical operated by electrically controlled means, e.g. solenoids or torque motors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • A61F2002/704—Operating or control means electrical computer-controlled, e.g. robotic control

Landscapes

  • Health & Medical Sciences (AREA)
  • Transplantation (AREA)
  • Biomedical Technology (AREA)
  • Cardiology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Vascular Medicine (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Prostheses (AREA)

Abstract

The invention discloses a resistance control method, a resistance control device, a resistance control artificial limb, a resistance control terminal and a resistance control medium based on intent switching, wherein the resistance control method comprises the following steps: when the artificial limb is in a sitting mode, respectively acquiring real-time posture information of the lower leg, real-time rotation angle of the knee joint and real-time angular velocity of the knee joint; if the real-time posture information is that the lower leg is gradually converted into an upright posture, determining current intention information based on the real-time rotation angle and the real-time angular speed; and if the current intention information is the rising intention, acquiring the bending resistance and the stretching resistance corresponding to the artificial limb in the sitting mode, and controlling the bending resistance and the stretching resistance to be unchanged. The invention can accurately identify the intention of the user and judge whether the artificial limb is switched to the mode, and can control the bending resistance and the stretching resistance provided by the damping device when the intention of the user is identified as the rising intention, thereby being beneficial to the artificial limb to better execute the rising action corresponding to the rising intention.

Description

Resistance control method and device based on intention switching, artificial limb, terminal and medium
Technical Field
The invention relates to the technical field of artificial limbs, in particular to a resistance control method and device based on intention switching, an artificial limb, a terminal and a medium.
Background
Along with the development of society, the convenience of traffic and the continuous improvement of industrial level, the patients who cause amputation due to machine trauma car accidents and the like are more and more, and the amputation brings a lot of inconvenience to the patients and loses basic life ability. It is therefore becoming increasingly urgent to develop a prosthesis that helps amputees achieve basic life capabilities. The artificial limb needs to have the functions of assisting a patient in walking, running and the like, the artificial limb needs to have the capability of identifying different movement modes of walking, running and the like, and the artificial limb needs to be controlled individually for users in different states.
In the prior art, the control of the artificial limb is not intelligent, so that not only can the action intention of a user not be accurately identified, but also the convenience and the safety of the artificial limb can not be ensured.
Accordingly, there is a need for improvement and advancement in the art.
Disclosure of Invention
The invention aims to solve the problems that control of the artificial limb is not intelligent, action intention of a user cannot be accurately identified, and convenience and safety of use of the artificial limb cannot be guaranteed.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
in a first aspect, the present invention provides an intent-to-switch-based resistance control method, wherein the intent-to-switch-based resistance control method is applied to a prosthesis including a knee joint and a lower leg portion below the knee joint, a damping device being provided in the lower leg portion, the damping device being configured to provide bending resistance or stretching resistance to the knee joint, the intent-to-switch-based resistance control method including:
when the artificial limb is in a sitting mode, respectively acquiring real-time posture information of the lower leg, real-time rotation angle of the knee joint and real-time angular velocity of the knee joint;
if the real-time posture information is that the lower leg is gradually converted into an upright posture, determining current intention information based on the real-time rotation angle and the real-time angular speed;
and if the current intention information is the rising intention, acquiring the bending resistance and the stretching resistance corresponding to the artificial limb in the sitting mode, and controlling the bending resistance and the stretching resistance to be unchanged.
In one implementation, when the prosthesis is in the sitting mode, the real-time posture information of the lower leg, the rotation angle of the knee joint and the angular velocity of the knee joint are respectively acquired, and the method includes:
acquiring real-time angle information between the lower leg part and the vertical direction in a preset time period, and determining real-time posture information of the lower leg part based on the real-time angle information in the preset time period;
acquiring a real-time rotation angle of a rotating shaft of the knee joint in a preset time period based on an angle sensor;
based on an inertial sensor, acquiring a real-time angular velocity of the knee joint, wherein the real-time angular velocity is used for reflecting the change speed of the real-time rotation angle when the knee joint rotates.
In one implementation, the determining the real-time posture information of the lower leg based on the real-time angle information within the preset time period includes:
determining change information corresponding to the real-time angle information of the lower leg part based on the real-time angle information in the preset time period;
and if the change information corresponding to the real-time angle information is that the real-time angle information is gradually reduced, determining that the real-time posture information is that the lower leg is gradually converted into an upright posture.
In one implementation, the determining the current intent information based on the real-time rotation angle and the real-time angular velocity if the real-time posture information is that the lower leg is gradually transitioning to an upright posture includes:
if the real-time posture information determines that the lower leg is gradually converted into an upright posture, acquiring a corresponding rotation angle of the artificial limb in a sitting mode, and taking the rotation angle as an initial rotation angle;
if the real-time rotation angle is continuously reduced relative to the initial rotation angle and is smaller than a preset angle threshold value, acquiring direction information of the real-time angular speed;
and determining the current intention information based on the real-time angular velocity and the direction information.
In one implementation, the determining the current intent information based on the real-time angular velocity and the direction information includes:
if the direction information of the real-time angular velocity is consistent with the direction of the real-time rotation angle reduction, comparing the real-time angular velocity with a preset velocity threshold;
and if the real-time angular speed is greater than a preset speed threshold, determining that the current intention information is a rising intention.
In one implementation manner, if the current intention information is a rising intention, acquiring a bending resistance and an extension resistance corresponding to the prosthesis in the sitting mode, and controlling the bending resistance and the extension resistance to remain unchanged, including:
when the current intention information is a standing intention, a standing instruction is sent out, and a sitting mode is unlocked based on the standing instruction;
obtaining bending resistance and stretching resistance corresponding to the sitting mode, and reasonably judging the bending resistance and the stretching resistance, wherein the bending resistance is increased relative to the original bending resistance when the prosthesis performs sitting action, and the stretching resistance is reduced relative to the original stretching resistance when the prosthesis performs sitting action;
and if the bending resistance and the stretching resistance are both determined by the rationality, controlling the bending resistance and the stretching resistance to be unchanged when the prosthesis executes the lifting action corresponding to the lifting intention.
In one implementation manner, the acquiring the bending resistance and the stretching resistance corresponding to the sitting mode, and performing the rationality determination on the bending resistance and the stretching resistance, includes:
acquiring a history database, wherein the history database stores the history bending resistance and the history stretching resistance matched with the weight data of the user when the artificial limb executes the rising action;
obtaining bending resistance and stretching resistance corresponding to the sitting mode, and respectively matching the bending resistance and the stretching resistance with a history database;
and if the bending resistance and the stretching resistance are successfully matched with the history database, determining that the bending resistance and the stretching resistance are reasonable.
In a second aspect, an embodiment of the present invention further provides an intent-to-switch-based resistance control device, where the intent-to-switch-based resistance control device is applied to a prosthesis including a knee joint and a lower leg portion below the knee joint, a damping device being disposed in the lower leg portion, the damping device being configured to provide bending resistance or stretching resistance to the knee joint, the intent-to-switch-based resistance control device including:
the data acquisition module is used for respectively acquiring real-time posture information of the lower leg, real-time rotation angle of the knee joint and real-time angular velocity of the knee joint when the artificial limb is in a sitting mode;
the intention determining module is used for determining current intention information based on the real-time rotation angle and the real-time angular speed if the real-time posture information is that the lower leg part is gradually converted into an upright posture;
and the resistance control module is used for acquiring the bending resistance and the stretching resistance corresponding to the artificial limb in the sitting mode if the current intention information is the rising intention, and controlling the bending resistance and the stretching resistance to be unchanged.
In a third aspect, embodiments of the present invention also provide a prosthetic limb including a socket, a knee joint, a calf portion, and an intent-to-switch-based resistance control device as described in the foregoing schemes.
In a fourth aspect, an embodiment of the present invention further provides a terminal, where the terminal includes a memory, a processor, and an intent-switching-based resistance control program stored in the memory and executable on the processor, and when the processor executes the intent-switching-based resistance control program, the processor implements the steps of the intent-switching-based resistance control method in any one of the above schemes.
In a fifth aspect, an embodiment of the present invention further provides a computer readable storage medium, where the computer readable storage medium stores a resistance control program based on intent switching, where the resistance control program based on intent switching, when executed by a processor, implements the steps of the resistance control method based on intent switching in the above solution.
The beneficial effects are that: compared with the prior art, the invention provides a resistance control method based on intention switching, which respectively acquires real-time posture information of a lower leg, real-time rotation angle of a knee joint and real-time angular velocity of the knee joint when an artificial limb is in a sitting mode; if the real-time posture information is that the lower leg is gradually converted into an upright posture, determining current intention information based on the real-time rotation angle and the real-time angular speed; and if the current intention information is the rising intention, acquiring the bending resistance and the stretching resistance corresponding to the artificial limb in the sitting mode, and controlling the bending resistance and the stretching resistance to be unchanged. The invention can accurately identify the intention of the user and judge whether the artificial limb is switched to the mode, and can control the bending resistance and the stretching resistance provided by the damping device when the intention of the user is identified as the rising intention, thereby being beneficial to the artificial limb to better execute the rising action corresponding to the rising intention.
Drawings
Fig. 1 is a flowchart of a specific implementation of a resistance control method based on intent switching according to an embodiment of the present invention.
Fig. 2 is a schematic structural view of a prosthesis during a lift-up operation according to an embodiment of the present invention.
Fig. 3 is a functional schematic diagram of a resistance control device based on intent switching according to an embodiment of the present invention.
Fig. 4 is a schematic block diagram of a terminal according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and effects of the present invention clearer and more specific, the present invention will be described in further detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The embodiment provides a resistance control method based on intention switching, which can accurately identify user intention and judge whether the artificial limb is switched to a mode or not, and can control bending resistance and stretching resistance provided by a damping device when the user intention is identified as the intention to get up, so that the artificial limb can better execute the action corresponding to the intention to get up. When the artificial limb is in a sitting mode, the real-time posture information of the lower leg, the real-time rotation angle of the knee joint and the real-time angular velocity of the knee joint are respectively obtained; if the real-time posture information is that the lower leg is gradually converted into an upright posture, determining current intention information based on the real-time rotation angle and the real-time angular speed; and if the current intention information is the rising intention, acquiring the bending resistance and the stretching resistance corresponding to the artificial limb in the sitting mode, and controlling the bending resistance and the stretching resistance to be unchanged.
The resistance control method based on intent switching of the embodiment can be applied to a prosthetic limb, wherein the prosthetic limb comprises an intelligent controller for realizing the resistance adjustment method of the knee joint. Furthermore, the resistance adjustment method of the knee joint of the present embodiment is also applicable to a terminal that can be provided in a prosthesis to realize a resistance control method based on intention switching by the terminal. The artificial limb comprises a knee joint and a shank part positioned below the knee joint, wherein a damping device is arranged in the shank part and is used for providing stretching resistance or bending resistance for the knee joint. Specifically, as shown in fig. 1, the resistance control method based on intent switching of the present embodiment includes the steps of:
and step 100, respectively acquiring real-time posture information of the lower leg, real-time rotation angle of the knee joint and real-time angular velocity of the knee joint when the artificial limb is in a sitting mode.
As shown in fig. 2, the intelligent artificial limb of the embodiment comprises a shank 11 and a knee joint 12 rotatably connected with the shank 11 through a rotating shaft, wherein the rotating shaft is arranged on the knee joint 12 and is used for driving the shank 11 to rotate so as to realize flexible movement of the knee joint 12, the knee joint 12 is positioned at the top of the shank 11, the intelligent artificial limb further comprises a receiving cavity 3, the receiving cavity 3 is fixedly connected with the knee joint 12, and the receiving cavity 3 is used for being installed on the thigh of a user. The damping device 2 is arranged in the lower leg 11 in the embodiment, the damping device 2 can be a hydraulic cylinder, the damping device can be used for providing stretching resistance or bending resistance for the knee joint, and the bending resistance can provide support when the knee joint 12 bends backwards, so that the intelligent artificial limb is kept stable; the stretching resistance can control the swing angle when the lower leg 11 swings forward, so that the running or running mode can be realized.
After the intelligent artificial limb is installed on the thigh of the user, the user can use the intelligent artificial limb to be applied to various scenes, so as to ensure the use safety of the intelligent artificial limb and also help the intelligent artificial limb to be better used by the user. The purpose of this embodiment is to pre-determine the mode of the prosthesis, and pre-determine whether the prosthesis is switched from the sitting mode to the standing mode, and when the prosthesis is switched from the sitting mode to the standing mode, the prosthesis needs to perform a lifting motion, and when the lifting motion is performed, the motion state and motion data of the shank 11 and the knee joint 12 of the prosthesis related to each other may be changed, for example, the real-time posture information of the shank 11, the real-time rotation angle of the knee joint 12, and the real-time angular velocity of the knee joint 12 may be all changed, so these parameters may be used to determine whether the user has a intention to lift.
In this embodiment, the real-time posture information of the lower leg 11 reflects a state in which the lower leg 11 is present, and when the prosthesis is used, the state in which the lower leg 11 is generally present is swing or fixed, and the corresponding posture information is a tilt posture or an upright posture. When the lower leg 11 swings, it is indicated that the lower leg 11 is performing walking or running; when the lower leg 11 is fixed, it means that the lower leg 11 is standing at this time, so the corresponding real-time posture information is the standing posture. For another example, if the lower leg portion 11 is being gradually changed from the inclined posture to the upright posture, it is indicated that the lower leg portion 11 is performing the standing motion at this time. Therefore, the present embodiment can obtain real-time posture information of the lower leg portion 11 according to the state in which the lower leg portion 11 is present. In this embodiment, the real-time rotation angle of the knee joint 12 reflects the real-time rotation angle of the rotation shaft in the knee joint 12, and when the intelligent prosthesis performs walking, running, standing or sitting actions, the rotation between the knee joint 12 and the lower leg 11 is realized by the rotation shaft, and the rotation shaft is fixed on the knee joint 12 and is movably linked with the lower leg 11, so the real-time rotation angle of the rotation shaft is the real-time rotation angle of the knee joint 12. The real-time angular velocity of the knee joint 12 may reflect the change speed of the real-time rotation angle of the rotation shaft of the knee joint 12 to some extent, so that the greater the real-time angular velocity, the greater the speed of rotation of the knee joint 12, and the greater the corresponding change in the real-time rotation angle. After the terminal obtains the real-time posture information of the lower leg 11, the real-time rotation angle of the knee joint 12 and the real-time angular velocity of the knee joint 12, comprehensive analysis can be performed based on the posture information, the rotation angle and the angular velocity to determine the intention of the user, that is, to determine what action is performed by the prosthesis.
Specifically, the data acquisition method in this embodiment includes the following steps:
step S101, acquiring real-time angle information between the lower leg part and the vertical direction in a preset time period, and determining real-time posture information of the lower leg part based on the real-time angle information in the preset time period;
step S102, acquiring a real-time rotation angle of a rotating shaft of the knee joint in a preset time period based on an angle sensor;
step S103, based on an inertial sensor, acquiring the real-time angular velocity of the knee joint, wherein the real-time angular velocity is used for reflecting the change speed of the real-time rotation angle when the knee joint rotates.
Specifically, the knee joint 12 and the lower leg 11 of the present embodiment are provided with sensors, such as an angle sensor or an inertial sensor, which can be used to collect corresponding angle data or speed data, respectively. When determining the real-time posture information of the lower leg 11, the present embodiment may acquire real-time angle information between the lower leg 11 and a vertical direction (i.e., a direction perpendicular to the ground) within a preset time period (e.g., within 5 seconds, continuously), and then determine, based on the acquired real-time angle information of the lower leg 11 within the preset time period, change information corresponding to the real-time angle information of the lower leg 11. Since the prosthesis is in the sitting mode, the lower leg 11 is inclined and the lower leg 11 is at an angle to the vertical. When the change information corresponding to the real-time angle information of the lower leg 11 is analyzed, if the real-time angle information is determined to be gradually reduced based on the change information, the real-time posture information is determined to be that the angle between the lower leg 11 and the vertical direction is being reduced, so that the real-time posture information of the lower leg 11 can be determined to be gradually converted into the vertical posture at this time. When the lower leg 11 is completely in the upright posture, the real-time angle information between the lower leg 11 and the vertical direction may be within a preset angle range. The preset angle range is-5 DEG to 5 deg. If the angle information between the lower leg 11 and the vertical direction is within-5 deg. to 5 deg. for a period of time, it is indicated that the lower leg 11 is almost perpendicular to the ground during the period of time, and the lower leg 11 does not swing or swings to a small extent. Likewise, the angle sensor may be used to obtain the real-time rotation angle of the rotation axis of the knee joint 12 during a preset time period (the preset time period may be the same as the time period of the preset time period for collecting the real-time angle information of the calf portion 11). And acquiring a real-time angular velocity of the knee joint 12 over a preset period of time based on the inertial sensor.
And step 200, if the real-time posture information is that the lower leg is gradually converted into an upright posture, determining current intention information based on the real-time rotation angle and the real-time angular velocity.
If it is determined that the real-time posture information of the lower leg portion 11 is the lower leg portion being gradually converted into the upright posture, as shown in fig. 2, the terminal may determine the current intention information, that is, whether the user has a rising intention, based on the real-time rotation angle of the knee joint 12 and the real-time angular velocity.
Specifically, when determining the current intention information, the embodiment includes the following steps:
step S201, if the real-time posture information determines that the lower leg is gradually converted into an upright posture, acquiring a rotation angle corresponding to the prosthesis in a sitting mode, and taking the rotation angle as an initial rotation angle;
step S202, if the real-time rotation angle is continuously reduced relative to the initial rotation angle and is smaller than a preset angle threshold, acquiring direction information of the real-time angular velocity;
step S203, determining the current intention information based on the real-time angular velocity and the direction information.
In particular application, when the prosthesis is in the sitting mode, the rotation angle of the knee joint 12 is relatively large, and as can be seen from fig. 2, the knee joint 12 drives the receiving cavity 3 and the lower leg 11 to present a relatively large rotation angle, and in this embodiment, the rotation angle corresponding to the knee joint 12 in the sitting mode can be obtained and taken as the initial rotation angle. Then, when it is determined that the real-time posture information of the lower leg portion 11 determines that the lower leg portion 11 is gradually converted into the upright posture, the acquired real-time rotation angle of the knee joint 12 is compared with the initial rotation angle, and if the real-time rotation angle is continuously reduced relative to the initial rotation angle and is smaller than the preset angle threshold, it is indicated that the knee joint 12 is rotating in the rising direction (i.e., rotating upward), and has rotated by a certain extent. At this time, the terminal may acquire the direction information of the real-time angular velocity, and since the real-time angular velocity is vector and has a direction, if the direction information of the real-time angular velocity is consistent with the direction in which the real-time rotation angle decreases, it is further determined that the knee joint 12 is indeed rotated upward, and at this time, the real-time angular velocity may be compared with a preset speed threshold. If the real-time angular velocity is greater than the preset velocity threshold, it is indicated that the knee joint 12 is continuously rotated in the direction in which the real-time rotation angle is reduced, so that the current intention information can be determined as the rising intention. Therefore, the present embodiment comprehensively analyzes the movement condition of the knee joint 12 based on the real-time rotation angle, the direction information of the real-time angular velocity and the real-time angular velocity of the knee joint 12, and further can accurately analyze the current intention information of the user, thereby accurately determining whether the user has the intention to get up.
And step 300, if the current intention information is a rising intention, acquiring the corresponding bending resistance and stretching resistance of the artificial limb in the sitting mode, and controlling the bending resistance and the stretching resistance to be unchanged.
If it is determined that the current intention information is a rising intention, the terminal of the present embodiment needs to control the bending resistance and the stretching resistance. The embodiment can obtain the bending resistance and the stretching resistance corresponding to the artificial limb in the sitting mode, and the bending resistance corresponding to the sitting mode is the increased resistance and the stretching resistance is the reduced resistance, so that the bending resistance in the sitting mode can provide good supporting force and ensure the safety of a user. The stretching resistance in the sitting mode provides flexibility of the lower leg portion 11 in the standing mode, and the prosthesis can conveniently perform the standing action, so that after the current intention information is determined to be the standing intention, the bending resistance and the stretching resistance can be directly controlled to be unchanged, namely, the bending resistance and the stretching resistance corresponding to the sitting mode are used.
In one implementation manner, step S300 of the present embodiment specifically includes the following steps:
step S301, when the current intention information is a rising intention, a rising instruction is sent out, and a sitting mode is unlocked based on the rising instruction;
step S302, obtaining bending resistance and stretching resistance corresponding to the sitting mode, and reasonably judging the bending resistance and the stretching resistance, wherein the bending resistance is increased resistance relative to the original bending resistance when the prosthesis performs sitting action, and the stretching resistance is reduced resistance relative to the original stretching resistance when the prosthesis performs sitting action;
and step 303, if both the bending resistance and the stretching resistance pass the rationality judgment, controlling the bending resistance and the stretching resistance to be unchanged when the prosthesis performs the lifting action corresponding to the lifting intention.
Specifically, the damping device 2 of the present embodiment can be used to provide bending resistance or stretching resistance, and therefore the damping device 2 can set a bending damping coefficient or stretching damping coefficient, adjust the bending resistance based on the bending damping coefficient, and adjust the stretching resistance based on the stretching damping coefficient. When the artificial limb of the present embodiment performs a sitting motion, the original bending resistance of the damping device 2 is obtained, and then the motor-motor rotation adjusting valve for adjusting the bending damping coefficient of the damping device 2 is adjusted, and when the bending damping coefficient is adjusted to be large, the driving force of the motor of the knee joint 12 is reduced, so that the original bending resistance of the damping device can be increased. Thus, the bending resistance corresponding to the sitting mode is the resistance after being increased relative to the original bending resistance, and the stability of the artificial limb can be ensured. In addition, the present embodiment can further adjust to the expansion resistance after ensuring that the bending resistance of the damper device 2 increases when the prosthesis performs the sitting motion. Similarly, the present embodiment can also adjust the expansion damping coefficient of the damping device 2 based on the rotation of the motor, and when the expansion damping coefficient is adjusted to be small, the expansion resistance can be reduced, so that the lower leg 11 can be ensured to have smaller expansion resistance during the subsequent standing, the standing action is easier, and meanwhile, the lower leg 11 can swing freely and flexibly, so that the user can relax and feel comfortable after sitting down. Thus, the resistance to extension of the prosthesis in the sitting mode is reduced relative to the original resistance to extension. At this time, since the intention of the user is changed to become the rising intention, the prosthesis starts to perform the rising action, and the terminal may first issue a rising instruction, unlock the sitting mode based on the rising instruction, and prepare to start rising. In order to ensure the stability of the prosthesis when performing the uprising action and the flexibility of the lower leg 11, the termination point may then directly acquire the bending resistance and the extension resistance of the prosthesis corresponding to the sitting mode and prepare to follow the bending resistance and the extension resistance.
In one implementation, the terminal end of the present embodiment may further perform a rationality determination on the bending resistance and the stretching resistance to determine whether the bending resistance and the stretching resistance acquired at this time are optimal resistance data. Specifically, the present embodiment may obtain a history database in which the historic bending resistance and historic stretching resistance of the prosthesis are stored, which are matched with the user weight data when the prosthesis performs the uprising motion. That is, the history database stores therein the corresponding history bending resistance and history stretching resistance when the user performs the lifting motion using the prosthesis in a history scenario, and the history bending resistance and history stretching resistance are data of the user's weight. The terminal device can match the bending resistance and the stretching resistance corresponding to the sitting mode acquired at this time with the history database respectively. If the bending resistance and the stretching resistance are successfully matched with the history database, the bending resistance and the stretching resistance at the moment are reasonable and are the best resistance data. Therefore, the bending resistance and the stretching resistance corresponding to the sitting mode can be directly controlled when the artificial limb performs the rising action, so that not only can the stability of the artificial limb when the artificial limb performs the rising action be ensured, but also the stability and the flexibility of the lower leg 11 of the artificial limb when the artificial limb performs the rising action are ensured.
Based on the above embodiment, the present invention also provides an intent-to-switch-based resistance control device, which is applied to a prosthetic limb including a knee joint and a lower leg portion below the knee joint, in which a damping device for providing bending resistance or stretching resistance to the knee joint is provided. Specifically, as shown in fig. 3, the resistance control device based on intention switching includes: a data acquisition module 10, an intent determination module 20, and a resistance control module 30. Specifically, the data acquisition module 10 is configured to acquire real-time posture information of the lower leg, real-time rotation angle of the knee joint, and real-time angular velocity of the knee joint when the prosthesis is in the sitting mode, respectively. The intention determining module 20 is configured to determine current intention information based on the real-time rotation angle and the real-time angular velocity if the real-time posture information is that the lower leg portion is gradually being converted into an upright posture. The resistance control module 30 is configured to obtain a bending resistance and an extension resistance corresponding to the prosthesis in the sitting mode if the current intention information is a rising intention, and control the bending resistance and the extension resistance to remain unchanged.
In one implementation, the data acquisition module 10 includes:
the gesture determining unit is used for acquiring real-time angle information between the lower leg part and the vertical direction in a preset time period and determining real-time gesture information of the lower leg part based on the real-time angle information in the preset time period;
the angle determining unit is used for acquiring the real-time rotation angle of the rotating shaft of the knee joint in a preset time period based on the angle sensor;
and the speed determining unit is used for acquiring the real-time angular speed of the knee joint based on the inertial sensor, wherein the real-time angular speed is used for reflecting the change speed of the real-time rotation angle when the knee joint rotates.
In one implementation, the gesture determination unit includes:
a change information determining subunit, configured to determine change information corresponding to the real-time angle information of the lower leg based on the real-time angle information in the preset time period;
and the standing posture determining subunit is used for determining that the real-time posture information is gradually converted into the standing posture if the change information corresponding to the real-time angle information is that the real-time angle information is gradually reduced.
In one implementation, the intent determination module 20 includes:
an initial rotation angle obtaining unit, configured to obtain a rotation angle corresponding to the prosthesis in a sitting mode if the real-time posture information determines that the lower leg is gradually converted into an upright posture, and take the rotation angle as an initial rotation angle;
the direction information acquisition unit is used for acquiring the direction information of the real-time angular speed if the real-time rotation angle is continuously reduced relative to the initial rotation angle and is smaller than a preset angle threshold value;
and an intention information determining unit configured to determine the current intention information based on the real-time angular velocity and the direction information.
In one implementation, the intention information determination unit includes:
a speed comparison subunit, configured to compare the real-time angular speed with a preset speed threshold if the direction information of the real-time angular speed is consistent with the direction in which the real-time rotation angle decreases;
and the rising intention determining subunit is used for determining the current intention information as the rising intention if the real-time angular speed is greater than a preset speed threshold.
In one implementation, the resistance control module 30 includes:
the instruction sending unit is used for sending out a standing instruction when the current intention information is a standing intention, and unlocking a sitting mode based on the standing instruction;
the rationality judging unit is used for acquiring bending resistance and stretching resistance corresponding to the sitting mode, and rationality judging the bending resistance and the stretching resistance, wherein the bending resistance is the resistance of the artificial limb after the original bending resistance is increased when the sitting action is executed, and the stretching resistance is the resistance of the artificial limb after the original stretching resistance is reduced when the sitting action is executed;
and the resistance-keeping unit is used for controlling the bending resistance and the stretching resistance to be unchanged when the prosthesis executes the lifting action corresponding to the lifting intention if the bending resistance and the stretching resistance are judged through the rationality.
In one implementation, the rationality determination unit includes:
the historical data acquisition subunit is used for acquiring a historical database, wherein the historical database stores historical bending resistance and historical stretching resistance matched with the weight data of the user when the prosthesis executes the rising action;
the resistance matching subunit is used for acquiring bending resistance and stretching resistance corresponding to the sitting mode and respectively matching the bending resistance and the stretching resistance with a history database;
and the rationality determination subunit is used for determining that the bending resistance and the stretching resistance are both reasonable if the bending resistance and the stretching resistance are both successfully matched with the history database.
The working principle of each module in the resistance control device based on intent switching in this embodiment is the same as that of each step in the above method embodiment, and will not be described here again.
Based on the above embodiments, the present invention also provides a prosthesis, wherein the prosthesis comprises a socket, a knee joint, a calf portion and the resistance control device based on intent switch described in the above embodiments.
Based on the above embodiment, the present invention also provides a terminal, and a schematic block diagram of the terminal may be shown in fig. 4. The terminal may include one or more processors 100 (only one shown in fig. 4), a memory 101, and a computer program 102 stored in the memory 101 and executable on the one or more processors 100, such as a resistance control program based on an intended switch. The one or more processors 100, when executing the computer program 102, may implement the various steps in an embodiment of a resistance control method based on intent switching. Alternatively, the functions of the modules/units of the intent-to-switch based resistance control device embodiment may be implemented by one or more processors 100 when executing computer program 102, without limitation.
In one embodiment, the processor 100 may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
In one embodiment, the memory 101 may be an internal storage unit of the electronic device, such as a hard disk or a memory of the electronic device. The memory 101 may also be an external storage device of the electronic device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash card (flash card) or the like, which are provided on the electronic device. Further, the memory 101 may also include both an internal storage unit and an external storage device of the electronic device. The memory 101 is used to store computer programs and other programs and data required by the terminal. The memory 101 may also be used to temporarily store data that has been output or is to be output.
It will be appreciated by those skilled in the art that the functional block diagram shown in fig. 4 is merely a block diagram of some of the structures associated with the present inventive arrangements and is not limiting of the terminal to which the present inventive arrangements may be applied, as a specific terminal may include more or less components than those shown, or may be combined with some components, or may have a different arrangement of components.
Those skilled in the art will appreciate that implementing all or part of the above-described methods may be accomplished by way of a computer program, which may be stored on a non-transitory computer readable storage medium, that when executed may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, operational database, or other medium used in embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual operation data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (11)

1. An intent-to-switch-based resistance control method, characterized in that the intent-to-switch-based resistance control method is applied to a prosthesis including a knee joint and a lower leg portion located below the knee joint, a damping device being provided in the lower leg portion for providing bending resistance or stretching resistance to the knee joint, the intent-to-switch-based resistance control method comprising:
when the artificial limb is in a sitting mode, respectively acquiring real-time posture information of the lower leg, real-time rotation angle of the knee joint and real-time angular velocity of the knee joint;
if the real-time posture information is that the lower leg is gradually converted into an upright posture, determining current intention information based on the real-time rotation angle and the real-time angular speed;
and if the current intention information is the rising intention, acquiring the bending resistance and the stretching resistance corresponding to the artificial limb in the sitting mode, and controlling the bending resistance and the stretching resistance to be unchanged.
2. The method according to claim 1, wherein the acquiring real-time posture information of the lower leg, the rotation angle of the knee joint, and the angular velocity of the knee joint, respectively, when the prosthesis is in the sitting mode, comprises:
acquiring real-time angle information between the lower leg part and the vertical direction in a preset time period, and determining real-time posture information of the lower leg part based on the real-time angle information in the preset time period;
acquiring a real-time rotation angle of a rotating shaft of the knee joint in a preset time period based on an angle sensor;
based on an inertial sensor, acquiring a real-time angular velocity of the knee joint, wherein the real-time angular velocity is used for reflecting the change speed of the real-time rotation angle when the knee joint rotates.
3. The resistance control method for intention-to-switch according to claim 2, wherein the determining real-time posture information of the lower leg based on the real-time angle information within the preset period of time includes:
determining change information corresponding to the real-time angle information of the lower leg part based on the real-time angle information in the preset time period;
and if the change information corresponding to the real-time angle information is that the real-time angle information is gradually reduced, determining that the real-time posture information is that the lower leg is gradually converted into an upright posture.
4. The resistance control method for intention switching according to claim 3, wherein the determining current intention information based on the real-time rotation angle and the real-time angular velocity if the real-time posture information is that the lower leg portion is gradually transitioning to an upright posture includes:
if the real-time posture information determines that the lower leg is gradually converted into an upright posture, acquiring a corresponding rotation angle of the artificial limb in a sitting mode, and taking the rotation angle as an initial rotation angle;
if the real-time rotation angle is continuously reduced relative to the initial rotation angle and is smaller than a preset angle threshold value, acquiring direction information of the real-time angular speed;
and determining the current intention information based on the real-time angular velocity and the direction information.
5. The method for controlling resistance for intention switching according to claim 4, wherein the determining the current intention information based on the real-time angular velocity and the direction information includes:
if the direction information of the real-time angular velocity is consistent with the direction of the real-time rotation angle reduction, comparing the real-time angular velocity with a preset velocity threshold;
and if the real-time angular speed is greater than a preset speed threshold, determining that the current intention information is a rising intention.
6. The method according to claim 1, wherein if the current intention information is a rising intention, acquiring a bending resistance and a stretching resistance corresponding to the prosthesis in the sitting mode, and controlling the bending resistance and the stretching resistance to remain unchanged, comprises:
when the current intention information is a standing intention, a standing instruction is sent out, and a sitting mode is unlocked based on the standing instruction;
obtaining bending resistance and stretching resistance corresponding to the sitting mode, and reasonably judging the bending resistance and the stretching resistance, wherein the bending resistance is increased relative to the original bending resistance when the prosthesis performs sitting action, and the stretching resistance is reduced relative to the original stretching resistance when the prosthesis performs sitting action;
and if the bending resistance and the stretching resistance are both determined by the rationality, controlling the bending resistance and the stretching resistance to be unchanged when the prosthesis executes the lifting action corresponding to the lifting intention.
7. The method for controlling resistance to an intended switch according to claim 6, wherein the acquiring the bending resistance and the stretching resistance corresponding to the sitting mode and the rationality determining the bending resistance and the stretching resistance, comprises:
acquiring a history database, wherein the history database stores the history bending resistance and the history stretching resistance matched with the weight data of the user when the artificial limb executes the rising action;
obtaining bending resistance and stretching resistance corresponding to the sitting mode, and respectively matching the bending resistance and the stretching resistance with a history database;
and if the bending resistance and the stretching resistance are successfully matched with the history database, determining that the bending resistance and the stretching resistance are reasonable.
8. An intent-to-switch-based resistance control device, characterized in that the intent-to-switch-based resistance control device is applied to a prosthesis comprising a knee joint and a lower leg located below the knee joint, a damping device being provided in the lower leg for providing bending resistance or stretching resistance to the knee joint, the intent-to-switch-based resistance control device comprising:
the data acquisition module is used for respectively acquiring real-time posture information of the lower leg, real-time rotation angle of the knee joint and real-time angular velocity of the knee joint when the artificial limb is in a sitting mode;
the intention determining module is used for determining current intention information based on the real-time rotation angle and the real-time angular speed if the real-time posture information is that the lower leg part is gradually converted into an upright posture;
and the resistance control module is used for acquiring the bending resistance and the stretching resistance corresponding to the artificial limb in the sitting mode if the current intention information is the rising intention, and controlling the bending resistance and the stretching resistance to be unchanged.
9. A prosthesis comprising a socket, a knee joint, a calf portion and an intent-to-switch resistance control device according to claim 8.
10. A terminal comprising a memory, a processor and an intent-to-switch based resistance control program stored in the memory and executable on the processor, the processor implementing the steps of the intent-to-switch based resistance control method in accordance with any one of claims 1-7 when executing the intent-to-switch based resistance control program.
11. A computer readable storage medium, wherein a resistance control program based on intent switching is stored on the computer readable storage medium, which when executed by a processor, implements the steps of the resistance control method based on intent switching as claimed in any one of claims 1-7.
CN202311677989.5A 2023-12-08 2023-12-08 Resistance control method and device based on intention switching, artificial limb, terminal and medium Active CN117357313B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202311677989.5A CN117357313B (en) 2023-12-08 2023-12-08 Resistance control method and device based on intention switching, artificial limb, terminal and medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311677989.5A CN117357313B (en) 2023-12-08 2023-12-08 Resistance control method and device based on intention switching, artificial limb, terminal and medium

Publications (2)

Publication Number Publication Date
CN117357313A true CN117357313A (en) 2024-01-09
CN117357313B CN117357313B (en) 2024-04-09

Family

ID=89391418

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202311677989.5A Active CN117357313B (en) 2023-12-08 2023-12-08 Resistance control method and device based on intention switching, artificial limb, terminal and medium

Country Status (1)

Country Link
CN (1) CN117357313B (en)

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102647963A (en) * 2009-11-13 2012-08-22 奥托·博克保健产品有限公司 Method and device for controlling an artificial orthotic or prosthetic knee joint
CN103083027A (en) * 2013-01-10 2013-05-08 苏州大学 Gait phase distinguishing method based on lower limb joint movement information
CN107530174A (en) * 2015-04-24 2018-01-02 奥托·博克保健产品有限公司 The method that stance for artificial knee joint damps
US20180036150A1 (en) * 2015-04-20 2018-02-08 Technische Universiteit Delft Energy Storing Prosthetic Knee Actuator
CN107788978A (en) * 2016-09-02 2018-03-13 松下知识产权经营株式会社 Stand action assisting device, stand action householder method and program
CN110974497A (en) * 2019-12-30 2020-04-10 南方科技大学 Electric artificial limb control system and control method
CN111178330A (en) * 2020-01-20 2020-05-19 深圳市丞辉威世智能科技有限公司 Rest auxiliary switching method and device, terminal and storage medium
CN113080946A (en) * 2021-04-29 2021-07-09 合肥工业大学 Human body sitting and standing transfer capacity measuring device and method and electronic equipment
FR3119764A3 (en) * 2021-02-17 2022-08-19 Kedzal Covering for an orthopedic prosthesis and artificial limb comprising such a cover
CN116211647A (en) * 2023-02-10 2023-06-06 浙江大学温州研究院 Control method and device of lower limb rehabilitation equipment

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102647963A (en) * 2009-11-13 2012-08-22 奥托·博克保健产品有限公司 Method and device for controlling an artificial orthotic or prosthetic knee joint
CN103083027A (en) * 2013-01-10 2013-05-08 苏州大学 Gait phase distinguishing method based on lower limb joint movement information
US20180036150A1 (en) * 2015-04-20 2018-02-08 Technische Universiteit Delft Energy Storing Prosthetic Knee Actuator
CN107530174A (en) * 2015-04-24 2018-01-02 奥托·博克保健产品有限公司 The method that stance for artificial knee joint damps
CN107788978A (en) * 2016-09-02 2018-03-13 松下知识产权经营株式会社 Stand action assisting device, stand action householder method and program
CN110974497A (en) * 2019-12-30 2020-04-10 南方科技大学 Electric artificial limb control system and control method
CN111178330A (en) * 2020-01-20 2020-05-19 深圳市丞辉威世智能科技有限公司 Rest auxiliary switching method and device, terminal and storage medium
FR3119764A3 (en) * 2021-02-17 2022-08-19 Kedzal Covering for an orthopedic prosthesis and artificial limb comprising such a cover
CN113080946A (en) * 2021-04-29 2021-07-09 合肥工业大学 Human body sitting and standing transfer capacity measuring device and method and electronic equipment
CN116211647A (en) * 2023-02-10 2023-06-06 浙江大学温州研究院 Control method and device of lower limb rehabilitation equipment

Also Published As

Publication number Publication date
CN117357313B (en) 2024-04-09

Similar Documents

Publication Publication Date Title
CN117204991B (en) Motion control method and device for intelligent artificial limb, intelligent artificial limb and storage medium
US9610209B2 (en) Walking motion assist device
US10016330B2 (en) Step assist device, and computer-readable medium having stored thereon a step count program
CN102724936B (en) Device and method for controlling an artificial orthotic or prosthetic joint
CN117204993B (en) Intelligent artificial limb movement pattern recognition method and device, intelligent artificial limb and storage medium
US8562691B2 (en) Training device
US20190152047A1 (en) Biomechanical assistive device
CN117357313B (en) Resistance control method and device based on intention switching, artificial limb, terminal and medium
JP5724312B2 (en) Rehabilitation assist device
CN117257283B (en) Fall protection method and device, intelligent artificial limb, terminal and storage medium
CN110812127B (en) Lower limb exoskeleton control method and device
US8805582B2 (en) Robot control apparatus
CN117257284B (en) Fall risk processing method and device, intelligent artificial limb, terminal and storage medium
CN116211647A (en) Control method and device of lower limb rehabilitation equipment
CN117357315B (en) Resistance adjustment method and device for knee joint, intelligent artificial limb, terminal and medium
CN104656440A (en) Humanoid robot gait generation method
US8761926B2 (en) Apparatus and method for robot control
JP5284903B2 (en) Training equipment
CN117281668B (en) Control method, device, equipment and storage medium for intelligent leg-prosthesis knee joint
US10575969B2 (en) Prosthetic apparatus and method therefor
CN117442398B (en) Intelligent artificial limb adjusting method, device, terminal and medium based on gait difference
KR102427048B1 (en) Apparatus and method for predicting motion intention of a user wearing a shoulder-worn exoskeletion device
US20220211567A1 (en) Electric power assist device and control device
CN118161316A (en) Damping control method, device, terminal and storage medium based on swing period duration
CN115869161A (en) Gait recognition-based walking assisting device control method

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant