CN-121157018-B - Exoskeleton equipment control method and device and exoskeleton equipment

CN121157018BCN 121157018 BCN121157018 BCN 121157018BCN-121157018-B

Abstract

The embodiment of the application provides a control method and device of exoskeleton equipment and the exoskeleton equipment, wherein the method comprises the steps of obtaining acquisition data corresponding to encoders on two sides of the exoskeleton equipment respectively, and obtaining corresponding initial damping force according to the acquisition data corresponding to the two sides respectively; and based on the target damping force, combining a target motion type, obtaining a target moment, and controlling driving actuators on two sides of the exoskeleton device based on the target moment. The dynamic variable target damping force is obtained by combining the damping force limit value based on the corresponding initial damping force at two sides, the target moment suitable for the target motion type is obtained by combining the target motion type based on the target damping force, and the driving actuators at two sides of the exoskeleton device are controlled to output the resistance suitable for the target motion type and dynamically variable based on the target moment.

Inventors

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Assignees

极壳科技(深圳)有限公司

Dates

Publication Date: 20260508
Application Date: 20250916

Claims (10)

1. A control method of exoskeleton equipment is characterized in that, a controller for application to an exoskeleton device, the method comprising: acquiring acquisition data corresponding to encoders on two sides of the exoskeleton equipment respectively, and acquiring corresponding initial damping force according to the acquisition data corresponding to the two sides respectively; based on the initial damping forces corresponding to the two sides respectively, combining damping force limiting values to obtain a target damping force; Based on the target damping force and the target motion type, a target moment is obtained, and based on the target moment, driving actuators on two sides of the exoskeleton device are controlled; based on the target damping force, in combination with a target motion type, a target torque is obtained, comprising: When the target motion type is non-resistive motion, determining the target damping force as the target torque; when the target motion is anti-drag motion, the target moment is obtained based on the target damping force and the target elastic force; the acquisition data comprises an acquisition angle, and the target elasticity is obtained by the following modes: When the absolute value of the acquisition angle is smaller than a first angle, determining a moment lower limit as the target elastic force; When the absolute value of the acquisition angle is between the first angle and the second angle, determining the target elastic force based on an angle difference value between the absolute value of the acquisition angle and the first angle and combining a rigidity coefficient, wherein the second angle is larger than the first angle; And when the absolute value of the acquisition angle is larger than the second angle, determining the moment upper limit as the target elastic force.
2. The method of claim 1, wherein the acquiring data includes acquiring angular velocity, and wherein the acquiring initial damping force based on the acquired data corresponding to each of the two sides includes: and aiming at the acquisition angular velocity at any side, based on the acquisition angular velocity, acquiring a corresponding initial damping force by combining damping coefficients.
3. The method of claim 2, wherein obtaining a corresponding initial damping force based on the acquisition angular velocity in combination with a damping coefficient comprises: When the acquired angular velocity is smaller than an angular velocity threshold value, determining the negative number of the product between the acquired angular velocity and the damping coefficient as a corresponding initial damping force; And when the acquired angular velocity reaches an angular velocity threshold value, determining the negative number of the product between the angular velocity threshold value and the damping coefficient as a corresponding initial damping force.
4. The method of claim 1, wherein obtaining the target torque based on the target damping force and a target spring force comprises: determining the sum of the target damping force and the target elastic force as an initial moment; when the initial moment is smaller than the moment upper limit, determining the initial moment as the target moment; And determining the moment upper limit as the target moment when the initial moment reaches the moment upper limit.
5. The method of any one of claims 1-4, wherein obtaining the target damping force based on the respective initial damping forces on the two sides in combination with the damping force limit comprises: determining the sum of initial damping forces corresponding to the two sides as a double-sided damping force; And based on the double-side damping force, combining a damping force limit value to obtain a target damping force.
6. The method of claim 5, wherein the damping force limit comprises an upper damping force limit and a lower damping force limit; based on the double-sided damping force, in combination with a damping force limit, a target damping force is obtained, comprising: Determining a product between an attenuation coefficient and the initial damping force as the target damping force when the double-sided damping force is less than the lower damping force limit, wherein the attenuation coefficient is in a proportional relationship with the initial damping force; Determining the initial damping force as the target damping force when the double-sided damping force is between the lower damping force limit and the upper damping force limit; When the double-sided damping force is greater than the damping force upper limit, the damping force upper limit is determined as the target damping force.
7. The method of any one of claims 1-4, further comprising, prior to obtaining the acquired data corresponding to each of the encoders on both sides of the exoskeleton device: and responding to the motion instruction sent by the user equipment, and obtaining a motion parameter corresponding to the motion instruction, wherein the motion parameter comprises the target motion type.
8. The method of any one of claims 1-4, wherein controlling the drive actuators on both sides of the exoskeleton device based on the target torque comprises: Controlling a drive actuator on a side of the exoskeleton device based on the target torque and the first direction, and And controlling a driving actuator on the other side of the exoskeleton device based on the target moment and the second direction, wherein the first direction and the second direction are opposite directions.
9. A control device of exoskeleton equipment is characterized in that, a controller for use with an exoskeleton device, the apparatus comprising: The damping force obtaining module is used for obtaining the acquired data corresponding to the encoders on the two sides of the exoskeleton equipment respectively and obtaining corresponding initial damping force according to the acquired data corresponding to the two sides respectively; the damping force obtaining module is further used for obtaining a target damping force based on initial damping forces corresponding to the two sides respectively and combining damping force limiting values; the control module is used for obtaining a target moment based on the target damping force and combining a target motion type, and controlling driving actuators on two sides of the exoskeleton device based on the target moment; The control module is specifically configured to: When the target motion type is non-resistive motion, determining the target damping force as the target torque; when the target motion is anti-drag motion, the target moment is obtained based on the target damping force and the target elastic force; the device also comprises an elastic force obtaining module, wherein the acquired data comprise an acquisition angle, and the elastic force obtaining module is used for: When the absolute value of the acquisition angle is smaller than a first angle, determining a moment lower limit as the target elastic force; When the absolute value of the acquisition angle is between the first angle and the second angle, determining the target elastic force based on an angle difference value between the absolute value of the acquisition angle and the first angle and combining a rigidity coefficient, wherein the second angle is larger than the first angle; And when the absolute value of the acquisition angle is larger than the second angle, determining the moment upper limit as the target elastic force.
10. The exoskeleton device is characterized by comprising a hip joint exoskeleton two-side encoder, a controller, a memory and a driving actuator, wherein: The memory stores instructions executable by the controller to enable the controller to control the drive actuator by performing the method of any one of claims 1-8 based on the data from the two-sided encoder.

Description

Exoskeleton equipment control method and device and exoskeleton equipment Technical Field The embodiment of the application relates to the technical field of exoskeleton, in particular to a control method and device of exoskeleton equipment and the exoskeleton equipment. Background With the continuous progress of technology, exoskeleton technology has gradually become an important auxiliary technology, for example, under the scene that medical rehabilitation, the assistance of the elderly and the like need assistance, exoskeleton equipment provides enhanced strength, stability and flexibility by simulating the movement mode of a human body, so that the movement capability of a wearer is improved. However, in a sports scene, the motion characteristics are different from those of a scene requiring assistance. In a scene requiring assistance, exoskeleton equipment can provide assistance and simple load, while in a sports scene, in order to achieve training effect, complex mechanical environment is often required to be simulated. At this time, if the exoskeleton device in the scene requiring assistance is applied to assist the movement of the wearer, the training effect may be poor, and even damage may be caused to the wearer. Therefore, how to design a control method of exoskeleton equipment suitable for sports scenes is a problem to be solved. Disclosure of Invention The embodiment of the application provides a control method and device of exoskeleton equipment and the exoskeleton equipment, which are used for accurately controlling the exoskeleton equipment aiming at a sports scene. In a first aspect, an embodiment of the present application provides a method for controlling an exoskeleton device, which is applied to a controller of the exoskeleton device, where the method includes: acquiring acquisition data corresponding to encoders on two sides of the exoskeleton equipment respectively, and acquiring corresponding initial damping force according to the acquisition data corresponding to the two sides respectively; based on the initial damping forces corresponding to the two sides respectively, combining damping force limiting values to obtain a target damping force; And based on the target damping force and the target motion type, obtaining a target moment, and controlling driving actuators on two sides of the exoskeleton device based on the target moment. According to the scheme, based on the acquired data corresponding to the encoders on the two sides of the exoskeleton equipment, corresponding initial damping forces on the two sides are obtained, and then the damping force limit value is combined to obtain a dynamically-changed target damping force; because different motion types have different requirements for resistance, a target moment suitable for the target motion type is obtained by combining the target motion type based on the target damping force, and the driving actuators on two sides of the exoskeleton device are controlled based on the target moment, so that the driving actuators can output the resistance suitable for the target motion type and dynamically changing, the training targets under different motion types are met, and the training effect is improved. In some optional embodiments, the acquiring data includes acquiring angular velocity, and acquiring corresponding initial damping force according to the acquired data corresponding to each of the two sides includes: and aiming at the acquisition angular velocity at any side, based on the acquisition angular velocity, acquiring a corresponding initial damping force by combining damping coefficients. According to the scheme, based on the acquired angular velocity and the damping coefficient, the resistance output in the damping environment is simulated, and the corresponding initial damping force is obtained. In some alternative embodiments, based on the collected angular velocity, in combination with a damping coefficient, a corresponding initial damping force is obtained, including: When the acquired angular velocity is smaller than an angular velocity threshold value, determining the negative number of the product between the acquired angular velocity and the damping coefficient as a corresponding initial damping force; And when the acquired angular velocity reaches an angular velocity threshold value, determining the negative number of the product between the angular velocity threshold value and the damping coefficient as a corresponding initial damping force. According to the scheme, when the initial damping force is calculated, the collected angular velocity is compared with the angular velocity threshold, the angular velocity threshold is used as the upper limit of the angular velocity adopted for calculating the initial damping force, and the situation that the calculated damping force is overlarge is reduced. In some alternative embodiments, based on the target damping force, in combination with a target motion type, a target tor