Human body motion mode real-time recognition method of flexible exoskeleton system

The invention discloses a human body motion mode real-time recognition method of a flexible exoskeleton system. The method comprises the following steps that the flexible exoskeleton system obtains human body posture information and human-ground interaction force information in real time; an initial state of a human body motion mode of the flexible exoskeleton system is set at an initial moment; the flexible exoskeleton system judges the human body motion mode which is possibly switched at the current moment according to the human body motion mode at the previous moment, then judges the recognition condition of human body motion mode switching according to the obtained human body posture signal and human-ground interaction force signal at the current moment, and finally obtains the recognition result of the human body motion mode at the current moment. The state switching model and the real-time measurement data of the exoskeleton system sensor are used for judging whether the state recognition condition of t