机器人2026，Vol.48Issue(2)：271-283,13.DOI:10.13973/j.cnki.robot.240348
轮式助行器使用者推行状态识别研究
Research on Ambulation Status Recognition for Wheeled Walker Users
摘要
Abstract
A comprehensive method based on pressure sensors and LiDAR is proposed to recognize the ambulation states of electric wheeled walker users.Firstly,pressure sensors are used to acquire the hand force data on the handle,which are denoised to extract the valid motion intentions.Then,a LiDAR sensor is adopted to track the lower-limb motion speed,and leg motion patterns are fitted using the least squares method for accurate position estimation.Through multi-sensor fusion,the system identifies critical states,including normal walking,turning,and falling,and activates adaptive control strategies.This method enhances the real-time monitoring accuracy and stable control by capturing the upper-limb pressure changes and lower-limb motion trajectories,and significantly improves the safety for elderly users by preventing falls and enabling reliable assistance,demonstrating potential for clinical rehabilitation applications.关键词
轮式助行器/推行状态识别/压力传感器/激光雷达/跌倒检测/多传感器融合Key words
wheeled walker/ambulation state recognition/pressure sensor/LiDAR/fall detection/multi-sensor fusion引用本文复制引用
王强,孙志杰,兰陟..轮式助行器使用者推行状态识别研究[J].机器人,2026,48(2):271-283,13.基金项目
国家重点研发计划(2020YFC2007502) （2020YFC2007502）
中央级公益性科研院所基本科研业务费专项资金(118009001000160001). （118009001000160001）
