工程设计学报2018，Vol.25Issue(2)：159-166,8.DOI:10.3785/j.issn.1006-754X.2018.02.005
基于多信息融合的下肢外骨骼机器人感知系统研究
Research on the sensing system of lower limb exoskeleton robot based on multi-information fusion
摘要
Abstract
The sensing system of body movement is the key to realize compliant control and hu-man-robot coupling for the exoskeleton robot.The dynamic model of the lower limb was analyzed and the cooperative control method was brought forward.position control method was applied in the support phase,and the interactive-force based admittance control method was applied in the swing phase.According to the method,the sensing system of lower limb exoskeleton robot based on multi-information fusion was developed,which employed joints angle of body,human-machine interaction force and plantar pressure as perceptual parameters.Using the variable-gain Kalman fliter algorithm to process the angle measured by IM U sensor and the Savitzky-Golay fil-ter algorithm to process the pressure measured by FSR,the gait characteristic was acquired and the test was carried out to verify the reliability of the method.The experimental results showed that the attitude angle calculating algorithm of IM U data had the characteristics of high precision and good stability,and the human-robot interactive method and the FSR pressure data processing algorithm were feasible,which meant that the sensing system had the reliable ability to acquire and fuse attitude angle,interaction force and plantar pressure and identify the wearer's gait accu-rately.The results can provide a reference for optimizing the sensing system of exoskeleton robot and promote the development of the control systems and strategies of exoskeleton robot.关键词
多信息/外骨骼机器人/感知系统/变增益卡尔曼滤波算法/Savitzky-Golay滤波算法Key words
multi-information/exoskeleton robot/sensing system/variable-gain Kalman filter al-gorithm/Savitzky-Golay filter algorithm分类
信息技术与安全科学引用本文复制引用
黄梓亮,方晨昊,欧阳小平,杨金江,杨华勇..基于多信息融合的下肢外骨骼机器人感知系统研究[J].工程设计学报,2018,25(2):159-166,8.基金项目
国家自然科学基金资助项目(51675473) （51675473）
国家创新群体资助项目(51221004) （51221004）
