CN117653505A - Hip joint assistance exoskeleton robot, hip joint assistance method, equipment and medium - Google Patents

Abstract

The application provides a hip joint assistance exoskeleton robot, a hip joint assistance method, equipment and medium, comprising: the left end and the right end of the waistband are provided with waist supporting pieces; the two hip joint driving modules comprise a rotary driving assembly and a hip joint connecting piece, and two ends of the rotary driving assembly are respectively connected with the waist supporting piece and the hip joint connecting piece; the two leg wearing components comprise an upper leg rod and a lower leg rod, two ends of the upper leg rod are respectively connected with the hip joint connecting piece and the lower leg rod, and the lower leg rod is provided with a leg belt; the control box is arranged at the front end of the waistband, the left end and the right end of the control box are respectively connected with the waist supporting piece through chains, a controller is arranged in the control box, and the rotary driving assembly is electrically connected with the controller; the embodiment of the application can be suitable for users with different body types and can effectively provide assistance for the hip joints of the users.

Description

Hip joint assistance exoskeleton robot, hip joint assistance method, equipment and medium

Technical Field

The present application relates to, but is not limited to, the field of medical rehabilitation devices, and in particular to a hip-joint-assisted exoskeleton robot, a hip-joint-assisted method, apparatus, and medium.

Background

At present, for the crowds with damaged lower limbs exercise, a lower limb rehabilitation device is generally adopted to help users to exercise, however, a traditional lower limb rehabilitation device is generally designed to be heavy and hard because of the need of providing stable support, so that users can easily cause secondary injury because of collision devices during exercise, the lower limb rehabilitation device with uniform specification cannot be suitable for users with different body types, in addition, the lower limb rehabilitation device generally only provides a supporting effect, can not effectively provide assistance for the users, and has poor rehabilitation training effect.

Disclosure of Invention

The following is a summary of the subject matter described in detail herein. This summary is not intended to limit the scope of the claims.

The embodiment of the application provides a hip joint assisting exoskeleton robot which can be suitable for users with different body types and can effectively provide assistance for the hip joints of the users.

To achieve the above object, a first aspect of an embodiment of the present application proposes a hip-joint-assisting exoskeleton robot, including: waist supporting pieces are arranged at the left end and the right end of the waistband, and the waistband is used for binding the waist of a human body; the two hip joint driving modules comprise a rotary driving assembly and hip joint connectors, the fixed end of the rotary driving assembly is in height-adjustable connection with the corresponding waist supporting piece, the rotating end of the rotary driving assembly is fixedly connected with the corresponding hip joint connectors, and the rotary driving assembly is used for driving the corresponding hip joint connectors to rotate; the leg wearing components comprise an upper leg rod and a lower leg rod, one end of the upper leg rod is movably connected with the corresponding hip joint connecting piece, the other end of the upper leg rod is respectively connected with the corresponding lower leg rod in a height-adjustable mode, and the lower leg rod is provided with a leg strap for binding the legs of the human body; the control box is arranged at the front end of the waistband, the left end and the right end of the control box are respectively connected with the corresponding waist supporting pieces through chains with adjustable lengths, a controller is arranged in the control box, the rotary driving assembly is electrically connected with the controller, and the controller is used for controlling the working state of the rotary driving assembly.

In some embodiments, the rotary driving assembly comprises a bearing connecting piece and a driving motor, the bearing connecting piece comprises a connecting plate and a motor bracket, the connecting plate is fixed on the motor bracket, the motor bracket is sleeved on the outer side of the driving motor, the motor bracket is fixedly clamped with the hip joint connecting piece, a plurality of first mounting holes are formed in the connecting plate from top to bottom at intervals, a plurality of second mounting holes corresponding to the first mounting holes are formed in the waist bearing piece from top to bottom at intervals, the first mounting holes are fixedly connected with the second mounting holes through fasteners, a plurality of third mounting holes are formed in the upper leg rod from top to bottom at intervals, a plurality of fourth mounting holes corresponding to the third mounting holes are formed in the lower leg rod from top to bottom at intervals, and the third mounting holes are fixedly connected with the fourth mounting holes through fasteners.

In some embodiments, the leg wear assembly further comprises a plurality of inertial sensors, each of the inertial sensors being disposed within the control box and on the leg wear assembly, respectively, each of the inertial sensors being electrically connected to the controller, respectively.

In some embodiments, the device further comprises an indicator light and a loudspeaker, wherein the indicator light is arranged on the control box, the loudspeaker is arranged in the control box, the indicator light and the loudspeaker are respectively and electrically connected with the controller, and the controller is used for controlling the on-off of the indicator light and controlling the working state of the loudspeaker.

In some embodiments, the lumbar support further comprises a first button switch and a second button switch, wherein the first button switch is arranged on one lumbar support, the second button switch is arranged on the other lumbar support, and the first button switch and the second button switch are respectively electrically connected with the controller; the first button switch is used for sending an operation instruction to the controller so that the controller controls the rotation driving assembly to operate according to the operation instruction; the first button switch is further used for sending a first stopping instruction to the controller so that the controller controls the rotary driving assembly to stop running according to the first stopping instruction; the second button switch is used for sending a second stop instruction to the controller so that the controller controls the rotation driving assembly to stop running according to the second stop instruction.

In some embodiments, the belt comprises a belt body, the belt body is integrally formed with the belt body, the belt body is used for binding the back of the human body, a plurality of waist fixing pieces are arranged on the outer side of the belt body and used for fixing the waist supporting pieces and the chains, flexible belts are respectively arranged at two ends of the belt body, the two flexible belts are connected through a buckle, and the buckle is used for adjusting the length of the flexible belts.

To achieve the above object, a second aspect of the embodiments of the present application provides a hip-joint assisting method, which is applied to the hip-joint assisting exoskeleton robot according to any one of the above embodiments, the hip-joint assisting exoskeleton robot including a waistband, two hip-joint driving modules, two leg wearing components, a control box, and a controller, the two hip-joint driving modules each including a rotation driving component and a hip joint connector, the rotation driving component being electrically connected to the controller, the hip-joint assisting method including: acquiring a driving instruction; and sending the driving instruction to the corresponding rotary driving assembly so as to control the working state of the rotary driving assembly.

In some embodiments, the fetch drive instruction includes: acquiring motion data to be identified of target objects detected by all inertial sensors; inputting the motion data to be identified into a trained pattern recognition model, and determining a motion pattern of the target object based on the pattern recognition model, wherein the pattern recognition model is a support vector machine obtained based on training of an improved Harris eagle optimization algorithm; and generating driving instructions corresponding to the rotation driving components according to the motion modes.

To achieve the above object, a third aspect of the embodiments of the present application proposes an electronic device, which includes a memory storing a computer program and a processor implementing the hip joint assistance method according to the second aspect when the processor executes the computer program.

To achieve the above object, a fourth aspect of the embodiments of the present application proposes a storage medium storing a computer program which, when executed by a processor, implements the hip joint assist method according to the second aspect.

The hip joint assistance exoskeleton robot, the hip joint assistance method, the hip joint assistance device and the medium provided by the application comprise: waist supporting pieces are arranged at the left end and the right end of the waistband, and the waistband is used for binding the waist of a human body; the two hip joint driving modules comprise a rotary driving assembly and hip joint connectors, the fixed end of the rotary driving assembly is in height-adjustable connection with the corresponding waist supporting piece, the rotating end of the rotary driving assembly is fixedly connected with the corresponding hip joint connectors, and the rotary driving assembly is used for driving the corresponding hip joint connectors to rotate; the leg wearing components comprise an upper leg rod and a lower leg rod, one end of the upper leg rod is movably connected with the corresponding hip joint connecting piece, the other end of the upper leg rod is respectively connected with the corresponding lower leg rod in a height-adjustable mode, and the lower leg rod is provided with a leg strap for binding the legs of the human body; the control box is arranged at the front end of the waistband, and the left end and the right end of the control box are respectively connected with the corresponding waist support piece through chains with adjustable lengths. According to the scheme provided by the embodiment of the application, the waist of a user is bound by arranging the waistband, the waistband can be generally adapted to waistlines of different users, so that the waistband is firmly bound on the waist of the user, further, the waist support piece and the control box which are positioned on the waistband are effectively borne, and the hip joint driving module which is connected with the waist support piece are borne, further, the leg wearing assembly can be borne, the control box is connected with the waist support piece through the chain with adjustable length, the distance between the control box and the waist support piece is adjusted based on the waistline of the user, and the fixed end of the rotation driving assembly is connected with the corresponding waist support piece in a height-adjustable manner, and the other end of the upper leg rod is respectively connected with the corresponding lower leg rod in a height-adjustable manner; based on this, the user is in the walking in-process, and the controller can send drive command to rotary drive subassembly for rotary drive subassembly can provide the helping hand, drives shank wearing subassembly motion through driving hip joint connecting piece, provides the helping hand to user's hip joint effectively, regards as low limbs rehabilitation device with hip joint helping hand ectoskeleton robot, can improve user's rehabilitation training effect.

Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application. The objectives and other advantages of the application will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

Drawings

The accompanying drawings are included to provide a further understanding of the technical aspects of the present application, and are incorporated in and constitute a part of this specification, illustrate the technical aspects of the present application and together with the examples of the present application, and not constitute a limitation of the technical aspects of the present application.

FIG. 1 is a schematic diagram of an alternative configuration of a hip assist exoskeleton robot provided in an embodiment of the present application;

FIG. 2 is a schematic view of an alternative configuration of one side of a hip assist exoskeleton robot provided in an embodiment of the present application;

FIG. 3 is a schematic diagram of an alternative structure of a control box according to an embodiment of the present disclosure;

FIG. 4 is a schematic view of an alternative configuration of the right side of a hip assist exoskeleton robot provided in an embodiment of the present application;

FIG. 5 is a schematic view of an alternative configuration of the left side of a hip assist exoskeleton robot provided in an embodiment of the present application;

FIG. 6 is an alternative system block diagram of a controller sending a drive command according to an embodiment of the present application;

FIG. 7 is a block diagram of an alternative system for inertial sensor transmission of motion information provided by embodiments of the present application;

FIG. 8 is a block diagram of an alternative system for a controller to send indicator light signals and voice messages according to an embodiment of the present application;

FIG. 9 is an alternative system block diagram of a first push button switch and a second push button switch provided in an embodiment of the present application;

FIG. 10 is a schematic flow chart of an alternative hip assist method according to an embodiment of the present application;

FIG. 11 is a schematic flow chart of an alternative hip assist method according to an embodiment of the present application;

fig. 12 is a schematic diagram of an alternative hardware structure of an electronic device according to an embodiment of the present application.

Detailed Description

Reference will now be made in detail to the present embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein the purpose of the accompanying drawings is to supplement the description of the written description section with figures, so that one can intuitively and intuitively understand each technical feature and overall technical scheme of the present application, but not to limit the scope of protection of the present application.

In the description of the present application, it should be understood that references to orientation descriptions, such as directions of up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the drawings, are merely for convenience of describing the present application and simplifying the description, and do not indicate or imply that the apparatus or element referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application.

In the description of the present application, the meaning of a number is one or more, the meaning of a number is two or more, and greater than, less than, exceeding, etc. are understood to exclude the present number, and the meaning of above, below, within, etc. are understood to include the present number. The description of the first and second is for the purpose of distinguishing between technical features only and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present application, unless explicitly defined otherwise, terms such as arrangement, mounting, electrical connection, etc. should be construed broadly and the specific meaning of the terms in the present application can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical solution.

Currently, lower limb rehabilitation devices are generally designed to be heavy and hard, cannot adapt to the physical constitution of different users, often feel uncomfortable when worn by users, and the lower limb rehabilitation devices on the market cannot actively provide assistance for the users to walk.

To the uncomfortable problem of feeling when user dresses, lower limb rehabilitation device does not actively provide walking moment, this application provides a hip joint helping hand ectoskeleton robot, its characterized in that includes: waist supporting pieces are arranged at the left end and the right end of the waistband, and the waistband is used for binding the waist of a human body; the two hip joint driving modules comprise a rotary driving assembly and hip joint connecting pieces, the fixed end of the rotary driving assembly is connected with the corresponding waist supporting piece in a height-adjustable mode, the rotating end of the rotary driving assembly is fixedly connected with the corresponding hip joint connecting pieces, and the rotary driving assembly is used for driving the corresponding hip joint connecting pieces to rotate; the leg wearing components comprise upper leg rods and lower leg rods, one ends of the upper leg rods are movably connected with the corresponding hip joint connectors, the other ends of the upper leg rods are respectively connected with the corresponding lower leg rods in a height-adjustable mode, and the lower leg rods are provided with leg belts used for binding legs of a human body; the control box is arranged at the front end of the waistband, the left end and the right end of the control box are respectively connected with the corresponding waist supporting pieces through chains with adjustable lengths, a controller is arranged in the control box, the rotary driving assembly is electrically connected with the controller, and the controller is used for controlling the working state of the rotary driving assembly. According to the scheme provided by the embodiment of the application, the waist of a user is bound by arranging the waistband, the waistband can be generally adapted to waistlines of different users, so that the waistband is firmly bound on the waist of the user, further, the waist support piece and the control box which are positioned on the waistband are effectively borne, and the hip joint driving module which is connected with the waist support piece are borne, further, the leg wearing assembly can be borne, the control box is connected with the waist support piece through the chain with adjustable length, the distance between the control box and the waist support piece is adjusted based on the waistline of the user, and the fixed end of the rotation driving assembly is connected with the corresponding waist support piece in a height-adjustable manner, and the other end of the upper leg rod is respectively connected with the corresponding lower leg rod in a height-adjustable manner; based on this, the user is in the walking in-process, and the controller can send drive command to rotary drive subassembly for rotary drive subassembly can provide the helping hand, drives shank wearing subassembly motion through driving hip joint connecting piece, provides the helping hand to user's hip joint effectively, regards as low limbs rehabilitation device with hip joint helping hand ectoskeleton robot, can improve user's rehabilitation training effect.

The hip-joint-assisting exoskeleton robot and the hip-joint-assisting method provided by the embodiment of the application are specifically described through the following embodiments, and the hip-joint-assisting exoskeleton robot in the embodiment of the application is described first.

Embodiments of the present application are further described below with reference to the accompanying drawings.

Referring to fig. 1-9, in one embodiment of the present application, there is provided a hip assist exoskeleton robot comprising:

waist support pieces 110 are arranged at the left end and the right end of the waistband 100, and the waistband 100 is used for binding the waist of a human body;

the two hip joint driving modules 200, wherein the two hip joint driving modules 200 comprise a rotary driving assembly 210 and a hip joint connecting piece 220, the fixed end of the rotary driving assembly 210 is in height-adjustable connection with the corresponding lumbar support 110, the rotating end of the rotary driving assembly 210 is fixedly connected with the corresponding hip joint connecting piece 220, and the rotary driving assembly 210 is used for driving the corresponding hip joint connecting piece 220 to rotate;

the two leg wearing components 300, the two leg wearing components 300 comprise an upper leg rod 310 and a lower leg rod 320, one end of the upper leg rod 310 is movably connected with the corresponding hip joint connector 220, the other end of the upper leg rod 310 is respectively connected with the corresponding lower leg rod 320 in a height adjustable manner, and the lower leg rod 320 is provided with a leg strap 330 for binding the legs of the human body;

The control box 400 is disposed at the front end of the waistband 100, the left and right ends of the control box 400 are respectively connected with the corresponding lumbar support 110 through the adjustable-length chains 500, the control box 400 is internally provided with a controller 410, the rotary driving assembly 210 is electrically connected with the controller 410, and the controller 410 is used for controlling the working state of the rotary driving assembly 210.

Based on this, the waist of the user is bound by providing the waist belt 100, the waist belt 100 can generally adapt to the waistline of different users, so that the waist belt 100 is firmly bound on the waist of the users, further, the waist support 110 and the control box 400 which are positioned on the waist belt 100 are effectively carried, and the hip joint driving module 200 which is connected with the waist support 110 is carried, further, the leg wear assembly 300 is also carried, and the control box 400 is connected with the waist support 110 through the chain 500 with adjustable length, so that the distance between the control box 400 and the waist support 110 is adjusted based on the waistline of the users, and because the fixed end of the rotary driving assembly 210 is connected with the corresponding waist support 110 in a height-adjustable way, and the other end of the upper leg rod 310 is respectively connected with the corresponding lower leg rod 320 in a height-adjustable way, the leg wear assembly 300 can adapt to the leg lengths of different users, and the lower leg rod 320 is provided with the leg strap 330 which is used for binding the legs of the human body, and the leg strap 330 can generally adapt to the legs of different users, therefore, the hip joint wear can be avoided when the robot is used for the different users to lift the human body types, and the hip joint is not comfortable to use, and the robot is not comfortable to the user; based on this, the controller 410 can send a driving instruction to the rotary driving assembly 210 during the walking process of the user, so that the rotary driving assembly 210 can provide assistance, the leg wearing assembly 300 is driven to move by driving the hip joint connector 220, assistance is effectively provided for the hip joint of the user, and the hip joint assistance exoskeleton robot is used as a lower limb rehabilitation device, so that the rehabilitation training effect of the user can be improved.

In specific practice, the chain 500 comprises a plurality of hinge heads, the hinge heads are rotationally connected through opposite lock screws, and a user can increase or decrease the number of the hinge heads according to the waistline of the user; the upper leg bar 310 is connected with the corresponding hip joint connector 220 through a hinge joint, so as to provide a left-right swinging rotation space for the leg wearing assembly 300.

In addition, referring again to fig. 2, in an embodiment, the rotary driving assembly 210 includes a motor bracket 212 and a driving motor 214, a collar 213 for sleeving the driving motor 214 is provided at a lower end of the motor bracket 212, the collar 213 is fixedly connected with a housing 215 of the driving motor 214, the collar 213 is attached to a corresponding hip joint connector 220, a driving end of the driving motor 214 is fixedly connected with the corresponding hip joint connector 220, a plurality of first mounting holes 111 are provided at an upper end of the motor bracket 212 from top to bottom, a plurality of second mounting holes 211 corresponding to the first mounting holes 111 are provided at a waist support 110 from top to bottom, the first mounting holes 111 and the second mounting holes 211 are fixedly connected through fasteners, a plurality of third mounting holes 311 are provided at a top to bottom interval of the upper leg rod 310, a plurality of fourth mounting holes 321 corresponding to the third mounting holes 311 are provided at a top to bottom interval, and the third mounting holes 311 and the fourth mounting holes 321 are fixedly connected through fasteners.

In particular practice, the hip joint connector 220 is provided with a stopper 221 for limiting the rotation interval of the hip joint connector 220 at the connection with the collar 213.

It is understood that the number of the first mounting holes 111 is plural, and the first mounting holes 111 may be arranged in an array, for example, in a plurality of rows and columns, the first mounting holes 111 in the same row are at the same height, the first mounting holes 111 in different rows are at different heights, the distance between any two adjacent rows of the first mounting holes 111 is fixed, and similarly, the second mounting holes 211, the third mounting holes 311 and the fourth mounting holes 321 are all arranged in a similar manner to the first mounting holes 111.

Based on this, the driving motor 214 and the hip joint connector 220 are mounted on the motor bracket 212, and the driving motor 214 drives the hip joint connector 220 to rotate after receiving a driving command, thereby providing assistance for the user to walk; the hip joint connector 220 is provided with the limiting block 221, so that the rotation interval of the hip joint connector 220 can be limited, the hip joint connector 220 can be prevented from rotating by a larger angle, thereby excessively stretching the hip joint of a user, and avoiding injury to the user; the motor bracket 212, the drive motor 214 and the hip joint connector 220 are connected by providing a collar 213.

Specifically, when the height between the fixed end of the rotary driving assembly 210 and the corresponding lumbar support 110 needs to be adjusted, a first mounting hole 111 with a proper height may be selected from the plurality of first mounting holes 111, and a second mounting hole 211 with a proper height may be selected from the plurality of second mounting holes 211, and the selected first mounting hole 111 and second mounting hole 211 are fixedly connected through a fastener, so that the fixed end of the rotary driving assembly 210 and the corresponding lumbar support 110 are at a proper height;

likewise, when the height between the fixed end of the upper leg bar 310 and the corresponding lower leg bar 320 needs to be adjusted, a third mounting hole 311 with a proper height may be selected from the plurality of third mounting holes 311, and a fourth mounting hole 321 with a proper height may be selected from the plurality of fourth mounting holes 321, and the selected third mounting hole 311 and fourth mounting hole 321 may be fixedly connected through a fastener such that the fixed end of the upper leg bar 310 and the corresponding lower leg bar 320 are at a proper height.

In addition, the leg band 330 can be firmly bound to the leg of the user by adjusting the binding position of the leg band 330, so that the assistance force can act on the key part of the leg when walking.

In addition, referring again to fig. 2, 3 and 7, in one embodiment, a plurality of inertial sensors 600 are also included, each inertial sensor 600 being disposed within the control box 400 and on each leg wear assembly 300, each inertial sensor 600 being electrically connected to the controller 410, respectively.

It will be appreciated that the inertial sensor 600 is used to acquire acceleration and gyroscope information in three dimensions and to send motion information to the controller 410.

In particular practice, there are three inertial sensors 600 mounted on the two leg wear assemblies 300 and within the control box 400, respectively.

Based on this, the speed and the steady state of the user can be analyzed by analyzing the motion information of the inertial sensor 600 in the control box 400, the motion state and the adaptation condition of the legs of the user can be determined by analyzing the inertial sensors 600 respectively arranged on the two leg wearing components 300, so that the adjustment of the driving instruction of the driving rotating component 210 can be timely made, the driving rotating component 210 can provide the assistance with proper force, the body unbalance of the user can be avoided, the motion information of the inertial sensor 600 can be collected by the controller 410, and the driving instruction sent by the controller 410 can be optimized by combining the use evaluation of the user.

In addition, referring to fig. 3 and 8 again, in an embodiment, the display device further includes an indicator light 420 and a speaker 430, the indicator light 420 is disposed outside the control box 400, the speaker 430 is disposed in the control box 400, the indicator light 420 and the speaker 430 are respectively electrically connected to the controller 410, and the controller 410 is used for controlling the on/off of the indicator light 420 and controlling the working state of the speaker 430.

In particular practice, the number of indicator lights 420 is two, one indicator light 420 is capable of emitting green light, the other indicator light 420 is capable of emitting red light, the controller 410 is capable of controlling the previous indicator light 420 to emit green light and controlling the other indicator light 420 to go out when the rotary drive assembly 210 is in operation, and the controller 410 is capable of controlling the previous indicator light 420 to go out and controlling the other indicator light 420 to emit red light when the rotary drive assembly 210 is out of operation.

In addition, the controller 410 is preset with various voice information, and the controller 410 sends corresponding voice information to the speaker 430 based on the operation state of the rotary driving assembly 210, so that the speaker 430 emits corresponding sound.

Based on this, the controller 410 detects the working state of the rotary driving assembly 210, the controller 410 sends a signal to the indicator light 420 to turn on or turn off the indicator light 420, the controller 410 sends voice information to the speaker 430, so that the speaker 430 plays corresponding voice information to achieve the effect of reminding a user, when the controller 410 detects that the rotary driving assembly 210 is in an abnormal state, even when the user is about to topple over, alarm information can be timely given, the user is reminded to pay attention to safety, the posture is timely adjusted, and the user can be timely attended by the attendant, so that accidents are avoided.

In addition, referring again to fig. 1, 4, 5 and 9, in one embodiment, a first push button switch 710 and a second push button switch 720 are further included, the first push button switch 710 being disposed on one of the lumbar supports 110, the second push button switch 720 being disposed on the other lumbar support 110, the first push button switch 710 and the second push button switch 720 being electrically connected to the controller 410, respectively; the first push button switch 710 is configured to send an operation instruction to the controller 410, so that the controller 410 controls the rotation driving assembly 210 to operate according to the operation instruction; the first push button switch 710 is further configured to send a first stop command to the controller 410, so that the controller 410 controls the rotary driving assembly 210 to stop according to the first stop command; the second push button switch 720 is configured to send a second stop command to the controller 410, so that the controller 410 controls the rotary driving assembly 210 to stop according to the second stop command.

It will be appreciated that the first push button switch 710 is provided on the right lumbar support 110 for user actuation and the second push button switch 720 is also provided on the left lumbar support 110 for user actuation.

The triggering principle of the first push button switch 710 and the second push button switch 720 will be described in detail.

When the hip-assisted exoskeleton robot stops working, that is, the rotation driving assembly 210 stops working, the hip-assisted exoskeleton robot does not provide assistance to the hip joint of the user, at this time, the user can start the hip-assisted exoskeleton robot by triggering the first push-button switch 710 located at the lumbar support 110, specifically, after the first push-button switch 710 is triggered, the first push-button switch 710 sends an operation command to the controller 410, and since the rotation driving assembly 210 is in a state of stopping working at this time, the controller 410 takes the operation command sent by the first push-button switch 710 as an operation command, and the controller 410 can control the rotation driving assembly 210 to operate in response to the operation command;

therefore, the hip joint assistance exoskeleton robot provided in the embodiment of the present application can only select the first button switch 710 to start, and compared with the situation that both the first button switch 710 and the second button switch 720 can start the hip joint assistance exoskeleton robot, the embodiment of the present application can avoid the risk of abnormal starting caused by the mistakenly touching the second button switch 720.

When the hip assist exoskeleton robot operates, i.e., the rotary driving assembly 210 operates, the hip assist exoskeleton robot provides assistance to the hip of the user, at this time, the user may stop the operation of the hip assist exoskeleton robot by triggering the first push button switch 710 or the second push button switch 720 located at the lumbar support 110, specifically, after the first push button switch 710 is triggered, the first push button switch 710 may send an operation command to the controller 410, and since the rotary driving assembly 210 is in an operating state at this time, the controller 410 may take the operation command sent by the first push button switch 710 as a first stop command, the controller 410 may control the rotary driving assembly 210 to stop operating in response to the first stop command, or after the second push button switch 720 is triggered, the second push button switch 720 may send an operation command to the controller 410, which is a second stop command, and the controller 410 may control the rotary driving assembly 210 to stop operating in response to the second stop command.

As can be seen, the hip joint assistance exoskeleton robot provided in this embodiment of the present application can select the first button switch 710 or the second button switch 720 to stop running, and compared with the situation that only the first button switch 710 or the second button switch 720 can be used to stop the hip joint assistance exoskeleton robot, the setting position of the button switch used to stop running is not needed to be considered in this embodiment of the present application, when the hip joint assistance exoskeleton robot runs, the operation of stopping the hip joint assistance exoskeleton robot can be realized by triggering the button switch located on any side, so that the safety performance can be increased, and danger is avoided.

In other embodiments, the first push-button switch 710 separately controls the right rotation driving assembly 210 to be turned on and off, the second push-button switch 720 separately controls the left rotation driving assembly 210 to be turned on and off, when the hip-joint assisting exoskeleton robot is not turned on, neither the left rotation driving assembly 210 nor the right rotation driving assembly 210 provides assistance, when the first push-button switch 710 is triggered, the controller 410 starts to send a driving command to the right rotation driving assembly 210, when the second push-button switch 720 is triggered again, the controller 410 starts to send a driving command to the left rotation driving assembly 210, the left rotation driving assembly 210 starts to operate, the first push-button switch 710 or the second push-button switch 720 is triggered again, and both the rotation driving assemblies 210 stop operating.

It can be appreciated that, when the first push-button switch 710 separately controls the right rotation driving unit 210 to be turned on and off, and the second push-button switch 720 separately controls the left rotation driving unit 210 to be turned on and off, and the lumbar support 110 on both sides is connected to the control box through the chain 500, respectively, so that a user can selectively install the lumbar support 110, the hip-joint driving module 200 and the leg wearing unit 300 on one side according to his own situation, so that the load of wearing the hip-joint assisting exoskeleton robot can be effectively reduced without affecting the rehabilitation exercise training effect.

Referring to fig. 1, 4 and 5 again, in an embodiment, the belt 120 is integrally formed with the waistband 100, the belt 120 is used for binding the back of the human body, a plurality of waist fixing members 130 are arranged on the outer side of the waistband 100, the waist fixing members 130 are used for fixing the waist supporting members 110 and the chains 500, two ends of the waistband 100 are respectively provided with flexible belts 140, the two flexible belts 140 are connected through a buckle 150, and the buckle 150 is used for adjusting the length of the flexible belts 140.

It will be appreciated that the harness 120 is provided with an adjusting buckle for adjusting the length of the harness 120, and the waist fixing members 130 on both sides of the waist belt 100 can be freely selectively installed and removed, and the waist fixing members 130 can be waist tabs, on which the lumbar support 110 and the chain 500 are strung.

Based on this, by providing the shoulder strap 120, the hip-joint assisting exoskeleton robot can be hung on the shoulder of the user, the hip-joint assisting exoskeleton robot does not fall off, and the lumbar support 110 can be effectively and fixedly mounted by providing the plurality of lumbar fixing members 130 on the outer side of the waist belt 100.

As shown in fig. 10, another embodiment of the present application provides a hip joint assistance method applied to the hip joint assistance exoskeleton robot according to any one of the above embodiments, the hip joint assistance exoskeleton robot including a waistband, two hip joint driving modules, two leg wearing assemblies, and a control box, the two hip joint driving modules each including a rotation driving assembly and a hip joint connector, the rotation driving assembly being electrically connected to a controller, the hip joint assistance method including:

s1010: acquiring a driving instruction;

s1020: and sending the driving instruction to the corresponding rotary driving assembly so as to control the working state of the rotary driving assembly.

It can be appreciated that, since the hip joint assistance method in the present embodiment is applied to the hip joint assistance exoskeleton robot as mentioned in the above-described embodiment, the hip joint assistance method in the present embodiment has the beneficial effects brought by the hip joint assistance exoskeleton robot as mentioned in the above-described embodiment.

As shown in fig. 11, in one embodiment of the present application, the hip-joint-assisted exoskeleton robot further includes a plurality of inertial sensors, each of which is disposed in the control box and on each of the leg wear assemblies, and each of which is electrically connected to the controller, respectively, in step S1010: obtaining a driving instruction, including:

s1110: acquiring motion data to be identified of target objects detected by all inertial sensors;

s1120: inputting motion data to be identified into a trained pattern identification model, and determining a motion pattern of a target object based on the pattern identification model, wherein the pattern identification model is a support vector machine obtained based on improved Harris eagle optimization algorithm training;

s1130: and generating driving instructions corresponding to the rotation driving assemblies according to the motion modes.

In specific practice, there are three inertial sensors respectively mounted on the two leg wearing components and in the control box, the inertial sensors mounted on the leg wearing components are used for detecting acceleration and gyroscope data of the legs in the three-dimensional direction, and the inertial sensors mounted in the control box are used for detecting acceleration and gyroscope data of the waists in the three-dimensional direction.

The training steps of the pattern recognition model are as follows:

Firstly, a tester wears the hip joint assisting exoskeleton robot, the tester performs various types of actions, multiple groups are collected in each type, two feet are needed for initial collection, and a plurality of types of data sets are obtained after collection, and as one inertial sensor comprises a triaxial accelerometer and a triaxial gyroscope, a single inertial sensor can collect data of 6 channels in the accelerometer and the gyroscope in the three-dimensional direction, and the data of 18 channels in total are obtained in the 3 inertial sensors;

then, carrying out wavelet filtering operation on the acquired data according to each channel, adopting db4 wavelet transformation, and removing noise by using 4 layers;

then, making a sample, integrating the collected data together, dividing the data, marking a class label for each action class of data, and distinguishing a training set and a testing set;

then, each sample contains 18 channels of data acquired at the same moment, time domain feature extraction, frequency domain feature extraction and wavelet transformation energy entropy feature extraction are sequentially carried out on the data of each channel of each sample, and finally, feature fusion is carried out on the extracted features to obtain feature vectors;

Then, performing dimension reduction operation on the obtained feature vector, performing dimension reduction on the residual features by using a principal component analysis method and using a combination optimization method to reduce the calculation complexity, and setting the contribution rate to be 95% in the model training step;

then, carrying out normalization operation on the feature after the dimension reduction, taking the condition that the data of the inertial sensor is concentrated into consideration, adopting a difference normalization method in the model training step to reserve the relation existing in the feature after the dimension reduction, carrying out linear transformation on the feature after the dimension reduction, and mapping the feature value between [0,1 ];

and finally, optimizing the support vector machine by adopting an improved Harris eagle optimization algorithm, optimizing the penalty coefficient and the hyper-parameters of the RBF kernel function in the support vector machine, calculating the scores of the penalty coefficient and the hyper-parameters of the RBF kernel function by 5 times of cross validation, adopting a one-to-many strategy, and using the opposite numbers of the scores as fitness values of population individuals in the Harris eagle algorithm.

The Harris eagle optimization algorithm flow is as follows:

firstly, initializing the number N iteration times T of the hawk population, initializing the hawk population by adopting a Sobol sequence according to the upper bound and the lower bound of each dimension of a search space, calculating the fitness of each hawk individual, obtaining the current optimal individual, and setting the optimal individual position as the current prey position;

Then, entering the search phase, the harris eagle inhabits somewhere at random, finding the prey by 2 strategies:

when q <0.5, harris eagles perch according to the positions of other members and prey;

when q is more than or equal to 0.5, the harris eagle randomly inhabits a certain tree in the population activity range;

wherein X (t) is the position of the individual at the current iteration, X (t+1) is the position of the individual at the next iteration, t is the number of iterations, X _rank (t) is the randomly selected individual position, X _rabbit (t) is the prey location, i.e. the individual location with the best fitness, r1, r2, r3, r4 and q are all intervals [0,1 ]]Q is used to randomly select the strategy to be employed, X _m (t) is the average position of the individual, ub is the upper bound of the search space, and lb is the lower bound of the search space.

Then, for each individual location update, a random number J set to 0 to 2 with a game jump intensity and a random number E set to 0 to 1 with an initial game escape energy ₀ Update prey escape energy E:

wherein T is the current iteration number, and T is the total iteration number;

defining a random number r between 0 and 1 in the development stage, and adopting a soft-tapping strategy to update the position when the E <1 is less than or equal to 0.5 and the r is more than or equal to 0.5:

Wherein J is a random number between [0,2 ];

when |E| <0.5 and r is larger than or equal to 0.5, adopting hard tapping to carry out position updating:

X(t+1)＝X _rabbit (t)-E|ΔX(t)|

when |E| <0.5 and r <0.5, adopting an asymptotic fast-dive hard surrounding strategy to perform position update:

wherein f is a cross validation function of the support vector machine; s is a 2-dimensional random vector, and elements are random numbers between [0,1 ]; LF is the mathematical expression of Lewy flight;

when 1> -E|is greater than or equal to 0.5 and r <0.5, adopting an asymptotic rapid dive soft surrounding strategy to update the position:

wherein f is a cross validation function of the support vector machine; s is a 2-dimensional random vector, and elements are random numbers between [0,1 ]; LF is the mathematical expression of Lewy flight;

then, improving a Harris eagle optimization algorithm, judging whether the value is an optimal value by adopting a limit threshold after each position update, setting the threshold to 10 in the model training step, continuously searching whether the optimal value is obtained, and updating an individual by adopting a dynamic reverse learning strategy;

and then calculating fitness, calculating the individual fitness after the position update, comparing the fitness with the fitness value of the prey, and taking the individual position with the better fitness value as a new prey position if the fitness value of the individual position after the position update is better than that of the prey.

In addition, referring to fig. 12, fig. 12 is a schematic diagram of an alternative hardware structure of an electronic device according to an embodiment of the present application, where the electronic device includes:

the processor 1201 may be implemented by a general purpose CPU (central processing unit), a microprocessor, an application specific integrated circuit (ApplicationSpecificIntegratedCircuit, ASIC), or one or more integrated circuits, etc. for executing related programs to implement the technical solutions provided by the embodiments of the present application;

memory 1202 may be implemented in the form of read-only memory (ReadOnlyMemory, ROM), static storage, dynamic storage, or random access memory (RandomAccessMemory, RAM). The memory 1202 may store an operating system and other application programs, and when the technical solutions provided in the embodiments of the present disclosure are implemented by software or firmware, relevant program codes are stored in the memory 1202, and the processor 1201 invokes the hip joint assistance method of the embodiments of the present disclosure, for example, performing the method steps S1010 to S1020 in fig. 10 and the method steps S1110 to S1130 in fig. 11 described above;

an input/output interface 1203 for implementing information input and output;

The communication interface 1204 is configured to implement communication interaction between the device and other devices, and may implement communication in a wired manner (e.g., USB, network cable, etc.), or may implement communication in a wireless manner (e.g., mobile network, WIFI, bluetooth, etc.);

a bus 1205 for transferring information between various components of the device such as the processor 1201, memory 1202, input/output interface 1203, and communication interface 1204;

wherein the processor 1201, the memory 1202, the input/output interface 1203 and the communication interface 1204 enable communication connection between each other inside the device via a bus 1205.

The embodiment of the application further provides a storage medium, which is a computer readable storage medium and is used for computer readable storage, the storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the hip joint assisting method, for example, the method steps S1010 to S1020 in fig. 10 and the method steps S1110 to S1130 in fig. 11 described above are executed.

The memory, as a non-transitory computer readable storage medium, may be used to store non-transitory software programs as well as non-transitory computer executable programs. In addition, the memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory optionally includes memory remotely located relative to the processor, the remote memory being connectable to the processor through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The embodiments described in the embodiments of the present application are for more clearly describing the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application, and as those skilled in the art can know that, with the evolution of technology and the appearance of new application scenarios, the technical solutions provided by the embodiments of the present application are equally applicable to similar technical problems.

It will be appreciated by those skilled in the art that the solutions shown in fig. 10-11 are not limiting to the embodiments of the present application, and may include more or fewer steps than shown, or may combine certain steps, or different steps.

The above described apparatus embodiments are merely illustrative, wherein the units illustrated as separate components may or may not be physically separate, i.e. may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

Those of ordinary skill in the art will appreciate that all or some of the steps of the methods, systems, functional modules/units in the devices disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof.

The terms "first," "second," "third," "fourth," and the like in the description of the present application and in the above-described figures, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the present application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

It should be understood that in this application, "at least one" means one or more, and "a plurality" means two or more. "and/or" for describing the association relationship of the association object, the representation may have three relationships, for example, "a and/or B" may represent: only a, only B and both a and B are present, wherein a, B may be singular or plural. The character "/" generally indicates that the context-dependent object is an "or" relationship. "at least one of" or the like means any combination of these items, including any combination of single item(s) or plural items(s). For example, at least one (one) of a, b or c may represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", wherein a, b, c may be single or plural.

In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the above-described division of units is merely a logical function division, and there may be another division manner in actual implementation, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.

The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including multiple instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of the various embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing a program.

Preferred embodiments of the present application are described above with reference to the accompanying drawings, and thus do not limit the scope of the claims of the embodiments of the present application. Any modifications, equivalent substitutions and improvements made by those skilled in the art without departing from the scope and spirit of the embodiments of the present application shall fall within the scope of the claims of the embodiments of the present application.

Claims (10)

1. A hip-assisted exoskeleton robot, comprising:

waist supporting pieces are arranged at the left end and the right end of the waistband, and the waistband is used for binding the waist of a human body;

the two hip joint driving modules comprise a rotary driving assembly and hip joint connectors, the fixed end of the rotary driving assembly is in height-adjustable connection with the corresponding waist supporting piece, the rotating end of the rotary driving assembly is fixedly connected with the corresponding hip joint connectors, and the rotary driving assembly is used for driving the corresponding hip joint connectors to rotate;

the leg wearing components comprise an upper leg rod and a lower leg rod, one end of the upper leg rod is movably connected with the corresponding hip joint connecting piece, the other end of the upper leg rod is respectively connected with the corresponding lower leg rod in a height-adjustable mode, and the lower leg rod is provided with a leg strap for binding the legs of the human body;

the control box is arranged at the front end of the waistband, the left end and the right end of the control box are respectively connected with the corresponding waist supporting pieces through chains with adjustable lengths, a controller is arranged in the control box, the rotary driving assembly is electrically connected with the controller, and the controller is used for controlling the working state of the rotary driving assembly.

2. The hip joint assistance exoskeleton robot of claim 1, wherein the rotary driving assembly comprises a motor bracket and a driving motor, a ferrule for sleeving the driving motor is arranged at the lower end of the motor bracket, the ferrule is fixedly connected with a shell of the driving motor, the ferrule is attached to a corresponding hip joint connecting piece, a driving end of the driving motor is fixedly connected with the corresponding hip joint connecting piece, a plurality of first mounting holes are arranged at the upper end of the motor bracket from top to bottom at intervals, a plurality of second mounting holes corresponding to the first mounting holes are arranged at the upper end of the waist supporting piece from top to bottom at intervals, the first mounting holes and the second mounting holes are fixedly connected through fasteners, a plurality of third mounting holes are arranged at the upper leg rod from top to bottom at intervals, a plurality of fourth mounting holes corresponding to the third mounting holes are arranged at the lower leg rod from top to bottom at intervals, and the third mounting holes and the fourth mounting holes are fixedly connected through the fasteners.

3. The hip assist exoskeleton robot of claim 1 further comprising a plurality of inertial sensors, each inertial sensor disposed within said control box and on each leg wear assembly, each inertial sensor electrically connected to said controller.

4. The hip assisted exoskeleton robot of claim 1, further comprising an indicator light and a speaker, wherein the indicator light is disposed on the control box, the speaker is disposed in the control box, the indicator light and the speaker are electrically connected to the controller, respectively, and the controller is configured to control on/off of the indicator light and control an operation state of the speaker.

5. The hip assist exoskeleton robot of claim 1, further comprising a first push button switch disposed on one of said lumbar supports and a second push button switch disposed on the other of said lumbar supports, said first and second push button switches being electrically connected to said controller, respectively; the first button switch is used for sending an operation instruction to the controller so that the controller controls the rotation driving assembly to operate according to the operation instruction; the first button switch is further used for sending a first stopping instruction to the controller so that the controller controls the rotary driving assembly to stop running according to the first stopping instruction; the second button switch is used for sending a second stop instruction to the controller so that the controller controls the rotation driving assembly to stop running according to the second stop instruction.

6. The hip joint assisting exoskeleton robot of claim 1, further comprising a brace, wherein the brace is integrally formed with the waistband, the brace is used for binding the back of the human body, a plurality of waist fixing pieces are arranged on the outer side of the waistband, the waist fixing pieces are used for fixing the waist supporting pieces and the chains, flexible belts are respectively arranged at two ends of the waistband, the two flexible belts are connected through a buckle, and the buckle is used for adjusting the length of the flexible belts.

7. A hip joint assistance method applied to the hip joint assistance exoskeleton robot of any one of claims 1 to 6, the hip joint assistance exoskeleton robot including a waist belt, two hip joint driving modules, two leg wearing assemblies, and a control box, both the hip joint driving modules including a rotation driving assembly and a hip joint connector, the rotation driving assembly being electrically connected with the controller, the hip joint assistance method comprising:

acquiring a driving instruction;

and sending the driving instruction to the corresponding rotary driving assembly so as to control the working state of the rotary driving assembly.

8. The hip assist method as set forth in claim 7, wherein the hip assist exoskeleton robot further comprises a plurality of inertial sensors, each of the inertial sensors being disposed in the control box and on each of the leg wear assemblies, each of the inertial sensors being electrically connected to the controller, respectively, the acquiring the driving instructions comprising:

acquiring motion data to be identified of target objects detected by all inertial sensors;

inputting the motion data to be identified into a trained pattern recognition model, and determining a motion pattern of the target object based on the pattern recognition model, wherein the pattern recognition model is a support vector machine obtained based on training of an improved Harris eagle optimization algorithm;

and generating driving instructions corresponding to the rotation driving components according to the motion modes.

9. An electronic device comprising a memory storing a computer program and a processor that when executing the computer program implements the hip joint assistance method according to any one of claims 7 to 8.

10. A storage medium storing a computer program which, when executed by a processor, implements the hip joint assistance method according to any one of claims 7 to 8.