Man-machine cooperation real-time control method of flexible exoskeleton system

The invention discloses a man-machine cooperation real-time control method of a flexible exoskeleton system. According to the method, the flexible exoskeleton system is included and obtains human bodyposture information and human-ground interaction force information in real time; according to the human body motion mode, the flexible exoskeleton system comprises complete assistance control, weak assistance control, force feedback control and non-assistance control; and a control mode of the flexible exoskeleton system is selected according to the human body posture information and the human-ground interaction force information. The method does not depend on a man-machine model, is good in robustness, performs cooperative control according to the real-time measurement data, is simple and convenient, and is high in engineering practicality. 本发明公开一种柔性外骨骼系统的人机协同实时控制方法，包括柔性外骨骼系统，柔性外骨骼系统实时获取人体姿态信息和人-地交互力信息；根据人体运动模式，柔性外骨骼系统包括完全助力控制、弱助力控制、力反馈控制和不助力控制；根据人体姿态信息、人-地交互力信息选择柔性外骨骼系统的控制方式；本发明不依赖人机模型，鲁棒性好，根据实时测量数据进行协同控制，简单方便，