现代制造工程Issue(7)：42-46,5.DOI:10.16731/j.cnki.1671-3133.2017.07.009
外骨骼机器人体感交互控制与仿真
Simulation and interactive somatosensory control for exoskeletal robot
摘要
Abstract
A new method was proposed on controlling exoskeletal robot by using Kinect sensor in order to make the movement of exoskeletal robot more conforms to human motion.With vector constructed by skeletal data,the angle for somatosensory control was acquired through dividing and calculating the space angles of upper limb joint according to the coordinate system of human body.Kalman filter was used to smooth the angles and the result showed that Kalman filter can better improve the stability and real time property of data.The maximum of angular velocity and the ranges of angles were set up for security.Lastly,the processed data was passed to the exoskeletal robot model which was built up based on LabVIEW for real-time control.According to the effect of real-time control,the data processing method was accurate and reliable that provides reliable references for the development of the physical prototype.关键词
外骨骼/体感交互/平滑处理/实时控制Key words
exoskeletal/somatosensory interaction/smooth processing/real-time control分类
信息技术与安全科学引用本文复制引用
瞿畅,于陈陈,沈芳..外骨骼机器人体感交互控制与仿真[J].现代制造工程,2017,(7):42-46,5.基金项目
南通市前沿与关键技术创新计划项目(MS22015007) （MS22015007）
南通大学研究生科技创新项目(YKC14007) （YKC14007）
