CN112618283A - Gait coordination power-assisted control system for exoskeleton robot active training - Google Patents
Gait coordination power-assisted control system for exoskeleton robot active training Download PDFInfo
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- 238000012549 training Methods 0.000 title claims abstract description 20
- 210000004394 hip joint Anatomy 0.000 claims abstract description 53
- 210000000629 knee joint Anatomy 0.000 claims abstract description 49
- 210000002414 leg Anatomy 0.000 claims abstract description 45
- 238000012545 processing Methods 0.000 claims abstract description 11
- 210000001503 joint Anatomy 0.000 claims abstract description 7
- 238000012937 correction Methods 0.000 claims description 36
- 210000000689 upper leg Anatomy 0.000 claims description 21
- 239000004576 sand Substances 0.000 claims description 6
- 210000003127 knee Anatomy 0.000 claims description 4
- 238000000034 method Methods 0.000 claims description 4
- 210000003205 muscle Anatomy 0.000 abstract description 2
- 230000000638 stimulation Effects 0.000 abstract 1
- 210000003141 lower extremity Anatomy 0.000 description 4
- 206010028372 Muscular weakness Diseases 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000036473 myasthenia Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5069—Angle sensors
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Abstract
The invention discloses a gait coordination power-assisted control system for active training of an exoskeleton robot, which comprises a sensor signal acquisition and processing module, a gait coordination power-assisted module and a motor driving module, wherein the sensor signal acquisition and processing module is used for acquiring a signal of an exoskeleton robot; the device comprises a sensor signal acquisition and processing module, a gait coordination power-assisted module, a motor driving module and a motor driving module driving mechanism, wherein the sensor signal acquisition and processing module is used for acquiring the motion data of hip joints or knee joints of a human body, the gait coordination power-assisted module is used for controlling the power-assisted size and the power-assisted direction of all joints, and the real-time output torque of a hip joint direct-current servo motor and a knee joint direct-current servo motor of two legs is finally. When a patient with insufficient muscle strength is subjected to active rehabilitation training, the invention prejudges the action and coordinates the legs to assist, and positive stimulation is formed on the walking intention under the condition of labor saving and comfort in walking, so that the treatment effect of rehabilitation treatment is improved.
Description
Technical Field
The invention relates to a gait coordination power-assisted control system for active training of an exoskeleton robot, and belongs to the robot technology.
Background
The assistance exoskeleton robot is a lower limb walking bionic mechanical leg in a wearing mode, takes a person as a center, acquires the movement trend of the human body through a sensor, gives joint assistance in a synchronous state direction with the person in the assistance aspect, and drives the human body to generate corresponding movement in the assistance aspect so as to stimulate corresponding skeletal muscle groups; the traditional exoskeleton robot has defects in the aspects of satisfying the rehabilitation physiotherapy of patients with insufficient lower limb muscle strength and coordinating human body movement. Chinese patent application CN201310688125.3 provides an anthropomorphic lower limb assistance exoskeleton robot, which can be used for lower limb assistance walking, and improves the traditional exoskeleton robot to some extent, but the scheme does not provide a related design for coordination assistance processing of each joint during active walking, and does not provide a reference scheme in the industry at present, and therefore, is not beneficial to specific implementation.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the problem that the conventional exoskeleton robot cannot effectively exert subjective walking force and cannot coordinate gait actions of active walking in rehabilitation training of mild and moderate myasthenia patients, the invention provides a gait coordination and assistance control system for the active training of the exoskeleton robot, which can drive a human body through the exoskeleton robot to coordinate and assist joint movement under the condition that the human body has basic walking capacity but the myasthenia exists, and achieves the purposes of coordination and flexibility of robot assistance auxiliary walking function of human body rehabilitation training movement.
The technical scheme is as follows: in order to achieve the purpose, the invention adopts the technical scheme that:
a gait coordination power-assisted control system for active training of an exoskeleton robot comprises a two-leg power-assisted movement mechanism, wherein a hip joint direct-current servo motor and a knee joint direct-current servo motor are respectively arranged at the positions of a hip joint and a knee joint of the two-leg power-assisted movement mechanism; the gait coordination power-assisted control system for active training comprises a sensor signal acquisition and processing module, a gait coordination power-assisted module and a motor driving module;
the sensor signal acquisition and processing module acquires the encoder value C of the left hip joint direct current servo motorL_JLeft knee joint DC servo motor encoder value CL_KEncoder value C of direct current servo motor for hip joint on right sideR_JAnd the encoder value C of the DC servo motor of the right knee jointR_K；
Collection exoskeleton robot's left leg thigh quality MLR_TLeft leg and shank mass MLR_SRight leg thigh mass MRR_TAnd right leg and shank mass MRR_SThe thigh mass M of the left leg of the patient is acquiredLH_TLeft leg and shank mass MLH_SMLH_SRight leg thigh mass MRH_TAnd right leg and shank mass MRH_S(ii) a Calculating total mass M of exoskeleton robot and left leg and thigh of patientL_T＝MLR_T+MLH_TLeft leg man-machine total mass ML_S＝MLR_S+MLH_SRight leg thigh man-machine total mass MR_T＝MRR_T+MRH_TAnd man-machine total mass M of right leg and shankR_S＝MRR_S+MRH_S；
The gait coordination assisting module is according to { CL_J,CL_K,CR_J,CR_KCalculating the absolute angle theta of hip joint of left legL_JThe absolute angle theta of the knee joint of the left legL_KRight leg hip joint absolute angle thetaR_JAnd the left leg knee joint absolute angle thetaR_KAccording to { thetaL_J,θL_K,θR_J,θR_KCalculating the left leg hip joint correction angle thetaF_LJLeft leg knee joint correction angle thetaF_LKRight leg hip joint correction angle thetaF_RJAnd the left leg knee joint correction angle thetaF_RKCombined with { thetaF_LJ,θF_LK,θF_RJ,θF_RKAnd { M }L_T,ML_S,MR_T,MR_SCalculating left leg hip joint assistance FL_JLeft leg and knee joint assisting force FL_KRight leg hip joint assisting force FR_JAnd the knee of the right legJoint assisting force FR_K；
The motor driving module is according to { FL_T,FL_S,FR_T,FR_SAnd generating motor control commands for driving the hip joint direct current servo motor and the knee joint direct current servo motor.
Specifically, the process of generating the motor control command by the control system comprises the following steps:
(1) according to the relationship between pulse and angle, from { CL_J,CL_K,CR_J,CR_KGet { theta }L_J,θL_K,θR_J,θR_K}；
(2) According to the safe moving range S of the joint angle of the two legsa＝{Sa_l,Sa_hSolving the left leg hip joint angle correction ratio Ra_LJLeft leg and knee joint angle correction ratio Ra_LKRight leg hip joint angle correction ratio Ra_RJAnd the left leg knee joint angle correction ratio Ra_RK；Sa_lThe lower limit value of the safe range of motion of the joint angle, Sa_hThe upper limit value of the safe movement range of the joint angle;
(3) according to { Ra_LJ,Ra_LK,Ra_RJ,Ra_RKCalculating a left leg hip joint judgment reference value thetaM_LJLeft leg and knee joint judgment reference value thetaM_LKRight leg hip joint judgment reference value thetaM_RJAnd a left leg knee joint judgment reference value thetaM_RK；
(4) Calculating the maximum joint angle thetaM＝max{θM_LJ,θM_LK,θM_RJ,θM_RKWill maximum joint angle θMThe corresponding angle correction ratio is determined as the maximum angle correction ratio Ra；
(5) According to the maximum joint angle thetaMAnd maximum angle correction ratio RaFor { theta }L_J,θL_K,θR_J,θR_KCorrecting to obtain { theta }F_LJ,θF_LK,θF_RJ,θF_RK}；
(6) Calculating { F) by combining the lengths of the big leg and the small leg of the exoskeleton robotL_T,FL_S,FR_T,FR_S}；
(7) Will { FL_T,FL_S,FR_T,FR_SAnd sending the data to a motor driving module.
Specifically, { R ] is calculated according to the following formulaa_LJ,Ra_LK,Ra_RJ,Ra_RK}：
Ra_LJ＝(θL_J-Sa_l)/(Sa_h-Sa_l)；
Ra_LK＝(θL_K-Sa_l)/(Sa_h-Sa_l)；
Ra_RJ＝(θR_J-Sa_l)/(Sa_h-Sa_l)；
Ra_RK＝(θR_K-Sa_l)/(Sa_h-Sa_l)。
Specifically, { θ ] is calculated according to the following equationM_LJ,θM_LK,θM_RJ,θM_RK}：
θM_LJ＝-(Ra_LJ-0.5)×θL_J；
θM_LK＝-(Ra_LK-0.5)×θL_K；
θM_RJ＝-(Ra_RJ-0.5)×θR_J；
θM_RK＝-(Ra_RK-0.5)×θR_K。
Specifically, the maximum joint angle θ is determined firstMBelongs to one of the four joints, and then calculates the correction angles of the four joints { theta }F_LJ,θF_LK,θF_RJ,θF_RK}：
If the joint angle is extremely largeMCorresponding to the left hip joint or the left knee joint, then:
if the joint angle is extremely large thetaMCorresponding to the right hip joint or the right knee joint, then:
specifically, according to the length L of the thigh of the left leg of the exoskeleton robotLJLeft leg length LLKThigh length L of right legRJAnd the length L of the shank of the right legRKCombined with { thetaF_LJ,θF_LK,θF_RJ,θF_RKAnd { M }L_T,ML_S,MR_T,MR_SCalculate { F }L_T,FL_S,FR_T,FR_S}：
FL_T＝cos(θF_LJ)×LLJ×ML_T×9.8+cos(θF_LK)×LLK×ML_S×9.8；
FL_S＝cos(θF_LK)×LLK×ML_S×9.8；
FR_T＝cos(θF_RJ)×LRJ×MR_T×9.8+cos(θF_RK)×LRK×MR_S×9.8；
FR_S＝cos(θF_RK)×LRK×MR_S×9.8。
Has the advantages that: compared with the prior art, the gait coordination and power-assisted control system for the exoskeleton robot active training has the following advantages that: 1. the invention can drive other joints with unobvious motion trend to carry out auxiliary assistance of walking through detecting the motion of a patient on a certain joint; 2. according to the invention, the travel of the walking assistance is calculated, so that the increase and decrease of the assistance can be ensured to be in accordance with the movement trend of the human body, and the human body can walk more comfortably.
Drawings
FIG. 1 is a system framework diagram of the present invention;
FIG. 2 is a schematic diagram of an embodiment of the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and the embodiments.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
As shown in fig. 1 and 2, a gait coordination assistance control system for active training of an exoskeleton robot is provided, the exoskeleton robot comprises a two-leg assistance movement mechanism, and a hip joint direct current servo motor and a knee joint direct current servo motor are respectively arranged at the hip joint and the knee joint of the two-leg assistance movement mechanism; the gait coordination power-assisted control system for active training comprises a sensor signal acquisition and processing module, a gait coordination power-assisted module and a motor driving module.
The sensor signal acquisition and processing module acquires the encoder value C of the left hip joint direct current servo motorL_JLeft knee joint DC servo motor encoder value CL_KEncoder value C of direct current servo motor for hip joint on right sideR_JAnd the encoder value C of the DC servo motor of the right knee jointR_K。
Collection exoskeleton robot's left leg thigh quality MLR_TLeft leg and shank mass MLR_SRight leg thigh mass MRR_TAnd right leg and shank mass MRR_SThe thigh mass M of the left leg of the patient is acquiredLH_TLeft leg and shank mass MLH_SMLH_SRight leg thigh mass MRH_TAnd right leg and shank mass MRH_S(ii) a Calculating total mass M of exoskeleton robot and left leg and thigh of patientL_T＝MLR_T+MLH_TLeft leg man-machine total mass ML_S＝MLR_S+MLH_SRight leg thigh man-machine total mass MR_T＝MRR_T+MRH_TAnd man-machine total mass M of right leg and shankR_S＝MRR_S+MRH_S。
The gait coordination assisting module is according to { CL_J,CL_K,CR_J,CR_KCalculating the absolute angle theta of hip joint of left legL_JThe absolute angle theta of the knee joint of the left legL_KRight leg hip joint absolute angle thetaR_JAnd the left leg knee joint absolute angle thetaR_KAccording to { thetaL_J,θL_K,θR_J,θR_KCalculating the left leg hip joint correction angle thetaF_LJLeft leg knee joint correction angle thetaF_LKRight leg hip joint correction angle thetaF_RJAnd the left leg knee joint correction angle thetaF_RKCombined with { thetaF_LJ,θF_LK,θF_RJ,θF_RKAnd { M }L_T,ML_S,MR_T,MR_SCalculating left leg hip joint assistance FL_JLeft leg and knee joint assisting force FL_KRight leg hip joint assisting force FR_JAnd right leg knee joint assist FR_K。
The motor driving module is according to { FL_T,FL_S,FR_T,FR_SAnd generating motor control commands for driving the hip joint direct current servo motor and the knee joint direct current servo motor.
In the scheme, the process of generating the motor control command by the control system comprises the following steps:
(1) according to the relationship between pulse and angle, from { CL_J,CL_K,CR_J,CR_KGet { theta }L_J,θL_K,θR_J,θR_K}。
(2) According to the safe moving range S of the joint angle of the two legsa＝{Sa_l,Sa_hSolving the left leg hip joint angle correction ratio Ra_LJLeft leg and knee joint angle correction ratio Ra_LKRight leg hip joint angle correction ratio Ra_RJAnd the left leg knee joint angle correction ratio Ra_RK；Sa_lThe lower limit value of the safe range of motion of the joint angle, Sa_hThe upper limit value of the safe movement range of the joint angle; according to the formulaCalculation of { Ra_LJ,Ra_LK,Ra_RJ,Ra_RK}：
Ra_LJ＝(θL_J-Sa_l)/(Sa_h-Sa_l)
Ra_LK＝(θL_K-Sa_l)/(Sa_h-Sa_l)
Ra_RJ＝(θR_J-Sa_l)/(Sa_h-Sa_l)
Ra_RK＝(θR_K-Sa_l)/(Sa_h-Sa_l)
(3) According to { Ra_LJ,Ra_LK,Ra_RJ,Ra_RKCalculating a left leg hip joint judgment reference value thetaM_LJLeft leg and knee joint judgment reference value thetaM_LKRight leg hip joint judgment reference value thetaM_RJAnd a left leg knee joint judgment reference value thetaM_RK(ii) a Calculating { theta ] according to the following equationM_LJ,θM_LK,θM_RJ,θM_RK}：
θM_LJ＝-(Ra_LJ-0.5)×θL_J
θM_LK＝-(Ra_LK-0.5)×θL_K
θM_RJ＝-(Ra_RJ-0.5)×θR_J
θM_RK＝-(Ra_RK-0.5)×θR_K
(4) Calculating the maximum joint angle thetaM＝max{θM_LJ,θM_LK,θM_RJ,θM_RKWill maximum joint angle θMThe corresponding angle correction ratio is determined as the maximum angle correction ratio Ra。
(5) According to the maximum joint angle thetaMAnd maximum angle correction ratio RaFor { theta }L_J,θL_K,θR_J,θR_KCorrecting to obtain { theta }F_LJ,θF_LK,θF_RJ,θF_RK}; in specific implementation, the maximum joint angle theta is judged firstMBelongs to which of the four joints, and then calculates the correction of the four jointsAngle { theta }F_LJ,θF_LK,θF_RJ,θF_RK}：
If the joint angle is extremely largeMCorresponding to the left hip joint or the left knee joint, then:
θF_LJ＝θL_J×(1+Ra)
θF_LK＝θL_K×(1+Ra)
θF_RJ＝-θR_J×(1+Ra)
θF_RK＝θR_K×(1+Ra)
if the joint angle is extremely large thetaMCorresponding to the right hip joint or the right knee joint, then:
θF_LJ＝θL_J×(1+Ra)
θF_LK＝-θL_K×(1+Ra)
θF_RJ＝θR_J×(1+Ra)
θF_RK＝θR_K×(1+Ra)
(6) according to the length L of the thigh of the left leg of the exoskeleton robotLJLeft leg length LLKThigh length L of right legRJAnd the length L of the shank of the right legRKCombined with { thetaF_LJ,θF_LK,θF_RJ,θF_RKAnd { M }L_T,ML_S,MR_T,MR_SCalculate { F }L_T,FL_S,FR_T,FR_S}：
FL_T＝cos(θF_LJ)×LLJ×ML_T×9.8+cos(θF_LK)×LLK×ML_S×9.8
FL_S＝cos(θF_LK)×LLK×ML_S×9.8
FR_T＝cos(θF_RJ)×LRJ×MR_T×9.8+cos(θF_RK)×LRK×MR_S×9.8
FR_S＝cos(θF_RK)×LRK×MR_S×9.8
(7) Will { FL_T,FL_S,FR_T,FR_SAnd sending the data to a motor driving module.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It should be understood by those skilled in the art that the above embodiments do not limit the present invention in any way, and all technical solutions obtained by using equivalent alternatives or equivalent variations fall within the scope of the present invention.
Claims (6)
1. A gait coordination power-assisted control system for active training of an exoskeleton robot comprises a two-leg power-assisted movement mechanism, wherein a hip joint direct-current servo motor and a knee joint direct-current servo motor are respectively arranged at the positions of a hip joint and a knee joint of the two-leg power-assisted movement mechanism; the method is characterized in that: the gait coordination power-assisted control system for active training comprises a sensor signal acquisition and processing module, a gait coordination power-assisted module and a motor driving module;
the sensor signal acquisition and processing module acquires the encoder value C of the left hip joint direct current servo motorL_JLeft knee joint DC servo motor encoder value CL_KEncoder value C of direct current servo motor for hip joint on right sideR_JAnd the encoder value C of the DC servo motor of the right knee jointR_K；
Collection exoskeleton robot's left leg thigh quality MLR_TLeft leg and shank mass MLR_SRight leg thigh mass MRR_TAnd right leg and shank mass MRR_SThe thigh mass M of the left leg of the patient is acquiredLH_TLeft leg and shank mass MLH_SMLH_SRight leg thigh mass MRH_TAnd right leg and shank mass MRH_S(ii) a Calculating total mass M of exoskeleton robot and left leg and thigh of patientL_T＝MLR_T+MLH_TLeft leg man-machine total mass ML_S＝MLR_S+MLH_SRight leg thigh man-machine total mass MR_T＝MRR_T+MRH_TAnd man-machine total mass M of right leg and shankR_S＝MRR_S+MRH_S；
The gait coordination assisting module is according to { CL_J,CL_K,CR_J,CR_KCalculating the absolute angle theta of hip joint of left legL_JThe absolute angle theta of the knee joint of the left legL_KRight leg hip joint absolute angle thetaR_JAnd the left leg knee joint absolute angle thetaR_KAccording to { thetaL_J,θL_K,θR_J,θR_KCalculating the left leg hip joint correction angle thetaF_LJLeft leg knee joint correction angle thetaF_LKRight leg hip joint correction angle thetaF_RJAnd the left leg knee joint correction angle thetaF_RKCombined with { thetaF_LJ,θF_LK,θF_RJ,θF_RKAnd { M }L_T,ML_S,MR_T,MR_SCalculating left leg hip joint assistance FL_JLeft leg and knee joint assisting force FL_KRight leg hip joint assisting force FR_JAnd right leg knee joint assist FR_K；
Motor driveMoving module according to { FL_T,FL_S,FR_T,FR_SAnd generating motor control commands for driving the hip joint direct current servo motor and the knee joint direct current servo motor.
2. The gait coordination assistance control system for active training of an exoskeleton robot of claim 1, wherein: the process of generating the motor control command by the control system comprises the following steps:
(1) according to the relationship between pulse and angle, from { CL_J,CL_K,CR_J,CR_KGet { theta }L_J,θL_K,θR_J,θR_K}；
(2) According to the safe moving range S of the joint angle of the two legsa＝{Sa_l,Sa_hSolving the left leg hip joint angle correction ratio Ra_LJLeft leg and knee joint angle correction ratio Ra_LKRight leg hip joint angle correction ratio Ra_RJAnd the left leg knee joint angle correction ratio Ra_RK；Sa_lThe lower limit value of the safe range of motion of the joint angle, Sa_hThe upper limit value of the safe movement range of the joint angle;
(3) according to { Ra_LJ,Ra_LK,Ra_RJ,Ra_RKCalculating a left leg hip joint judgment reference value thetaM_LJLeft leg and knee joint judgment reference value thetaM_LKRight leg hip joint judgment reference value thetaM_RJAnd a left leg knee joint judgment reference value thetaM_RK；
(4) Calculating the maximum joint angle thetaM＝max{θM_LJ,θM_LK,θM_RJ,θM_RKWill maximum joint angle θMThe corresponding angle correction ratio is determined as the maximum angle correction ratio Ra；
(5) According to the maximum joint angle thetaMAnd maximum angle correction ratio RaFor { theta }L_J,θL_K,θR_J,θR_KCorrecting to obtain { theta }F_LJ,θF_LK,θF_RJ,θF_RK}；
(6) Big and small legs combined with exoskeleton robotLength, calculate { FL_T,FL_S,FR_T,FR_S}；
(7) Will { FL_T,FL_S,FR_T,FR_SAnd sending the data to a motor driving module.
3. The gait coordination assistance control system for active training of an exoskeleton robot of claim 1, wherein: calculating { R ] according toa_LJ,Ra_LK,Ra_RJ,Ra_RK}：
Ra_LJ＝(θL_J-Sa_l)/(Sa_h-Sa_l)；
Ra_LK＝(θL_K-Sa_l)/(Sa_h-Sa_l)；
Ra_RJ＝(θR_J-Sa_l)/(Sa_h-Sa_l)；
Ra_RK＝(θR_K-Sa_l)/(Sa_h-Sa_l)。
4. The gait coordination assistance control system for active training of an exoskeleton robot of claim 1, wherein: calculating { theta ] according to the following equationM_LJ,θM_LK,θM_RJ,θM_RK}：
θM_LJ＝-(Ra_LJ-0.5)×θL_J；
θM_LK＝-(Ra_LK-0.5)×θL_K；
θM_RJ＝-(Ra_RJ-0.5)×θR_J；
θM_RK＝-(Ra_RK-0.5)×θR_K。
5. The gait coordination assistance control system for active training of an exoskeleton robot of claim 1, wherein: firstly, judging the maximum joint angle thetaMBelongs to one of the four joints, and then calculates the correction angles of the four joints { theta }F_LJ,θF_LK,θF_RJ,θF_RK}：
If the joint angle is extremely largeMCorresponding to the left hip joint or the left knee joint, then:
if the joint angle is extremely large thetaMCorresponding to the right hip joint or the right knee joint, then:
6. the gait coordination assistance control system for active training of an exoskeleton robot of claim 1, wherein: according to the length L of the thigh of the left leg of the exoskeleton robotLJLeft leg length LLKThigh length L of right legRJAnd the length L of the shank of the right legRKCombined with { thetaF_LJ,θF_LK,θF_RJ,θF_RKAnd { M }L_T,ML_S,MR_T,MR_SCalculate { F }L_T,FL_S,FR_T,FR_S}：
FL_T＝cos(θF_LJ)×LLJ×ML_T×9.8+cos(θF_LK)×LLK×ML_S×9.8；
FL_S＝cos(θF_LK)×LLK×ML_S×9.8；
FR_T＝cos(θF_RJ)×LRJ×MR_T×9.8+cos(θF_RK)×LRK×MR_S×9.8；
FR_S＝cos(θF_RK)×LRK×MR_S×9.8。
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