Title:
RIGID-FLEXIBLE MIXED EXOSKELETON MOTION CONTROL METHOD, DEVICE AND SYSTEM
Document Type and Number:
WIPO Patent Application WO/2023/108472
Kind Code:
A1
Abstract:
A rigid-flexible mixed exoskeleton motion control method, device and system. The method comprises: recognizing a leg lifting phase, a leg falling phase, and a swinging phase, and providing corresponding hip joint control and knee joint control. During the leg lifting phase, a hip joint is controlled to provide assistance, and a knee joint is controlled to keep relaxed; during the leg falling phase, the hip joint is controlled to provide assistance, and the knee joint is controlled to keep the maximum tensioning force; the leg lifting phase is a phase from a supporting phase to a state before the foot is completely lifted off the ground, and the leg falling phase is a phase from foot self-swinging phase landing to a complete standing state; during the swinging phase, the hip joint is controlled to follow up, and the knee joint is controlled to be unchanged. According to the exoskeleton motion control method, a motion state can be simply recognized, and accurate control is provided, so that the coordination is good.
Inventors:
WEI WEI (CN)
LIN XICHUAN (CN)
ZHA SHIJIA (CN)
LIN XICHUAN (CN)
ZHA SHIJIA (CN)
Application Number:
PCT/CN2021/138301
Publication Date:
June 22, 2023
Filing Date:
December 15, 2021
Export Citation:
Assignee:
MEBOTX INTELLIGENT TECH SUZHOU CO LTD (CN)
International Classes:
A61H3/00
Domestic Patent References:
| WO2013086035A1 | 2013-06-13 |
Foreign References:
| CN112641603A | 2021-04-13 | |||
| CN109350459A | 2019-02-19 | |||
| CN110812131A | 2020-02-21 | |||
| CN113547505A | 2021-10-26 | |||
| CN101898594A | 2010-12-01 | |||
| CN112621722A | 2021-04-09 |
Attorney, Agent or Firm:
NANJING JIUZHI INTELLECTUAL PROPERTY FIRM (GENERAL PARTNERSHIP) (CN)
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