信息与控制2024，Vol.53Issue(6)：689-700,12.DOI:10.13976/j.cnki.xk.2024.4015
基于多传感器融合技术的智能助行器用户运动意图估计算法
Motion Intention Estimation Algorithm for Intelligent Rollator Users Based on Multi-sensor Fusion Technology
摘要
Abstract
The intelligent rollator serves as a crucial assistive tool in various applications,aiding individ-uals with mobility impairments in maintaining independence and overcoming daily challenges.Among these applications,achieving an accurate estimation of the user's motor intention is crucial for enabling precise control of the intelligent rollator.We present the design of an intelligent rol-lator tailored for individuals with lower limb mobility issues.The rollator,equipped with 3D force sensors and 2D LiDAR,collects data on the user's walking status.However,the algorithm for es-timating the user's motion intention faces challenges due to susceptibility to interference from o-dometer errors in the original linear velocity estimation method.To address this challenge,we in-troduce a method for estimating the user's intention linear velocity based on the relative position of the user's legs.Additionally,to address the challenge of accurately estimating the intended angu-lar velocity of individuals with lower limb mobility issues using only 3D force sensors,we introduce an angular velocity estimation method based on multisensor fusion technology.Moreover,to address the lag induced by algorithm data processing,we integrate the Informer model into the algorithm to overcome challenges related to real-time human-computer interaction.The results indicate that the proposed linear velocity estimation method achieves an accuracy of 98.44%,while the angular velocity estimation algorithm exhibits an accuracy of 96.6%.As evidenced by the EMG(ElectroMyoGraphy)signals,users can use the proposed intelligent walker more easily.Furthermore,the integration of the Informer model into the intelligent rollator further enhances user convenience.Several experiments are conducted to confirm the effectiveness of the proposed method.关键词
智能助行器/人体运动意图估计/多传感器融合/InformerKey words
intelligent rollator/human motion intention estimation/multi-sensor fusion/Informer分类
信息技术与安全科学引用本文复制引用
张一勤,王亚刚,姚旭文,何佳桥,周康寿,孟巧玲,喻洪流..基于多传感器融合技术的智能助行器用户运动意图估计算法[J].信息与控制,2024,53(6):689-700,12.基金项目
国家重点研发计划(2020YFC2007502) （2020YFC2007502）
