CN-122004568-A - Wearable bionic attachment device for assisting astronaut in exercise and control method

CN122004568ACN 122004568 ACN122004568 ACN 122004568ACN-122004568-A

Abstract

The invention relates to the technical field of aerospace exercise equipment, and discloses a wearable bionic attachment device for assisting astronauts in exercise and a control method. The wearable bionic attachment device for assisting astronaut exercise comprises a shoe cover main body, an adsorption unit array, a multidimensional sensing module and a control module, wherein the adsorption unit array is arranged at the bottom of the shoe cover main body and comprises a plurality of independently controlled adsorption units which are distributed into a plurality of non-uniform functional partitions according to sole functional partitions, and the multidimensional sensing module is used for collecting interaction state parameters of soles and contact surfaces in real time. According to the invention, through the non-uniform matrix type adsorption unit array design, the adsorption units are differentially arranged according to the sole function areas, and the adsorption units with different function areas have differences in size, arrangement density and rated adhesive force, so that the adsorption characteristics are accurately matched with the distribution rule of human sole pressure and gait biomechanics.

Inventors

MAO JIANBIN
LIANG DELIAN
LI ZEXIAN
YAO XIANG
YANG YIMEI
HU JIANQIANG
LI JIAXI
XU YUTING
JIANG SHIJIE
HE QIANGRONG

Assignees

湖南理工职业技术学院

Dates

Publication Date: 20260512
Application Date: 20260415

Claims (10)

1. A wearable bionic attachment device for assisting a astronaut in exercising, comprising: A shoe cover main body; the adsorption unit array is arranged at the bottom of the shoe cover main body and comprises a plurality of independently controlled adsorption units, and the adsorption units are distributed into a plurality of non-uniform functional partitions according to sole functional partitions; The multidimensional sensing module is used for collecting interaction state parameters of the sole and the contact surface in real time; the control module is respectively in communication connection with each adsorption unit and the multi-dimensional sensing module and is configured to: receiving interaction state parameters acquired by the multi-dimensional sensing module, and identifying a real-time gait phase; In the foot grounding and supporting stage, on the basis of a real-time gait phase and an adsorption strategy, the starting and closing and vacuum degrees of the adsorption units of all functional partitions are dynamically adjusted, so that the total adhesive force is matched with an exercise target; based on the real-time gait phase and a preset desorption strategy, the adsorption units in each functional partition are controlled to be desorbed in sequence according to the time sequence matched with the current gait phase in the foot ground-leaving stage.
2. The wearable bionic attachment apparatus for assisting an astronaut to exercise according to claim 1, wherein each adsorption unit comprises an adsorption body and miniature bidirectional electromagnetic valves for controlling adsorption and desorption actions of the adsorption body, and the control module is in communication connection with each miniature bidirectional electromagnetic valve.
3. A wearable bionic attachment apparatus for assisting a astronaut exercise according to claim 1, wherein the non-uniform functional zones comprise at least a heel strike area corresponding to a heel strike phase, a full-palm fit area corresponding to a full-palm support phase, and a half-palm kick-off area corresponding to a half-palm kick-off phase.
4. The wearable bionic attachment apparatus for assisting an astronaut to exercise according to claim 3, wherein the multidimensional sensing module comprises a plurality of pressure sensors, a plurality of vacuum sensors and a plurality of gesture sensors, the pressure sensors are correspondingly arranged in each adsorption unit of a heel contact area and used for detecting foot contact pre-pressure of a sole, the vacuum sensors are arranged in each adsorption unit of a full-palm fitting area and used for detecting negative pressure values of sealing cavities of the adsorption units, and the gesture sensors are correspondingly arranged in each adsorption unit of a half-palm pedal separation area and used for detecting foot lifting angles, angular speeds and gesture changes of the sole.
5. The wearable bionic attachment apparatus for assisting an astronaut to exercise according to claim 1, wherein each adsorption unit is a modular unit and is mounted at the bottom of the shoe cover main body in a quick-detachable manner, and the adsorption units are isolated from each other by air paths.
6. The wearable bionic attachment apparatus for assisting an exercise of a astronaut according to claim 1, wherein the preset adsorption strategy executed by the control module specifically comprises: The method comprises the steps of obtaining the ground contact pre-pressure of each adsorption unit; when the ground contact precompression is in a preset optimal precompression interval, controlling the corresponding adsorption unit to execute adsorption action; When the ground contact precompression is lower than the lower limit of the optimal precompression interval, judging again after delaying for a preset time, and closing the adsorption unit if the ground contact precompression still does not reach the standard; when the ground contact precompression is higher than the upper limit of the optimal precompression interval, controlling the corresponding adsorption units to release partial negative pressure and sending out a touch feedback signal.
7. The wearable bionic attachment apparatus for assisting an exercise of a astronaut according to claim 1, wherein the preset desorption strategy executed by the control module specifically comprises: Based on a preset personalized gait model, a desorption time sequence matched with the foot lifting action is generated in advance, and the desorption time sequence prescribes the desorption sequence and interval time of the adsorption units in each functional partition; dynamically adjusting desorption interval time in a desorption time sequence according to foot lifting speed in a real-time gait phase; And when the foot lifting action is detected to be interrupted, suspending the execution of the current desorption time sequence.
8. A control method of a wearable bionic attachment apparatus, applied to the wearable bionic attachment apparatus for assisting an astronaut to exercise according to any one of claims 1 to 7, characterized by comprising the steps of: S1, gait recognition and triggering, namely collecting interaction state parameters of soles and contact surfaces in real time, and recognizing real-time gait phases; S2, self-adaptive adsorption closed-loop control, wherein in the foot touchdown stage, based on a real-time gait phase and a preset adsorption strategy, each adsorption unit is controlled to dynamically adjust the adsorption states of the independent adsorption units in a plurality of non-uniform functional partitions so as to form total adhesive force matched with an exercise target; and S3, time-sequence desorption control, namely controlling each adsorption unit to sequentially desorb the adsorption units in each functional partition according to the time sequence matched with the current gait phase based on the real-time gait phase and a preset desorption strategy in the foot lift-off stage.
9. The method for controlling a wearable bionic attachment according to claim 8, wherein the step S2 further comprises: The method comprises the steps of obtaining the ground contact pre-pressure of each adsorption unit; Judging whether the ground contact precompression is in a preset optimal precompression interval; If yes, controlling the adsorption unit to execute adsorption action; if the pressure is lower than the lower limit of the optimal pre-pressing interval, delaying the preset time, judging again, and if the pressure is not up to the standard, closing the adsorption unit; if the pressure is higher than the upper limit of the optimal pre-pressing interval, controlling the adsorption unit to release partial negative pressure and sending out a tactile feedback signal; And calculating the total adhesive force of all the effective adsorption units in real time, comparing the total adhesive force with a preset target load, and controlling the total adhesive force within the preset fluctuation range of the target load by dynamically adjusting the number of the effective adsorption units or the vacuum degree of each adsorption unit.
10. The method for controlling a wearable bionic attachment according to claim 8, wherein the step S3 further comprises: Based on a preset personalized gait model, a desorption time sequence matched with the foot lifting action is generated in advance, and the desorption time sequence prescribes the desorption sequence and interval time of the adsorption units in each functional partition; dynamically adjusting desorption interval time in a desorption time sequence according to foot lifting speed in a real-time gait phase; And when the foot lifting action is detected to be interrupted, suspending the execution of the current desorption time sequence.

Description

Wearable bionic attachment device for assisting astronaut in exercise and control method Technical Field The invention relates to the technical field of aerospace exercise equipment, in particular to a wearable bionic attachment device for assisting astronauts in exercise and a control method. Background Along with the normalization of the long-term resident tasks of the manned space station, the exposure of the weightless environment of the astronaut in orbit for more than 6 months can cause serious disuse amyotrophy and bone loss, and directly threatens the physical and mental health and the safety of the in-orbit operation of the astronaut. Physical exercise is the core means of combating the physiological effects of weight loss, while foot immobilization and resistance load application are the core preconditions of on-orbit exercise. In the prior art, as the special space shoes special for astronauts are disclosed in the publication No. CN105029820B, the special space shoes adopt a factory-prefabricated solidification adsorption structure, the number, the position and the size of adsorption units are all of fixed designs, and cannot be adjusted according to gait characteristics or exercise requirements of the astronauts in the in-orbit use process. Specifically, when the astronaut exercises with different frequency, different touchdown sequences or different foot lifting angles, the adsorption and desorption time of the existing device cannot be matched with the current action gesture of the astronaut, so that the conditions of delayed adsorption response and misplacement of desorption time sequences are easy to occur, and the continuity and stability of the exercise are affected. In addition, the demands of different astronauts on foot fixing force are different when exercising, but the existing device lacks a mechanism for individually adjusting the adhesive force, so that accurate matched exercise loads are difficult to provide for the astronauts with different muscle force levels in a microgravity environment. Therefore, there is a need for a wearable bionic attachment device and a control method that can achieve precise adaptation of foot fixation and anti-resistance load during exercise according to individual differences of astronauts. Disclosure of Invention The invention aims to provide a wearable bionic attachment device for assisting astronauts in exercise and a control method, so as to solve the technical problems. The invention solves the technical problems by the following technical proposal: In a first aspect, the present invention provides a wearable bionic attachment apparatus for assisting an astronaut in exercising, comprising: A shoe cover main body; the adsorption unit array is arranged at the bottom of the shoe cover main body and comprises a plurality of independently controlled adsorption units, and the adsorption units are distributed into a plurality of non-uniform functional partitions according to sole functional partitions; The multidimensional sensing module is used for collecting interaction state parameters of the sole and the contact surface in real time; the control module is respectively in communication connection with each adsorption unit and the multi-dimensional sensing module and is configured to: receiving interaction state parameters acquired by the multi-dimensional sensing module, and identifying a real-time gait phase; In the foot grounding and supporting stage, on the basis of a real-time gait phase and an adsorption strategy, the starting and closing and vacuum degrees of the adsorption units of all functional partitions are dynamically adjusted, so that the total adhesive force is matched with an exercise target; based on the real-time gait phase and a preset desorption strategy, the adsorption units in each functional partition are controlled to be desorbed in sequence according to the time sequence matched with the current gait phase in the foot ground-leaving stage. Preferably, each adsorption unit comprises an adsorption body and miniature bidirectional electromagnetic valves for controlling adsorption and desorption actions of the adsorption body, and the control module is in communication connection with each miniature bidirectional electromagnetic valve. Preferably, the non-uniform functional zones include at least a heel strike area corresponding to a heel strike phase, a full-palm fit area corresponding to a full-palm support phase, and a half-palm kick-off area corresponding to a half-palm kick-off phase. Preferably, the multi-dimensional sensing module comprises a plurality of pressure sensors, a plurality of vacuum sensors and a plurality of gesture sensors, wherein the pressure sensors are correspondingly arranged in each adsorption unit of the heel contact area and used for detecting the pre-pressure of foot sole contact, the vacuum sensors are arranged in each adsorption unit of the full-sole laminating area and used for detecting the negati