摘要
为增强人体的下肢运动机能,研制一套柔性功能外衣,作为助力系统的末端执行元件包覆于人体下肢,对髋关节的前屈动作助力,并研发基于力位混合控制的外接驱动系统,初步完成下肢柔性助力外衣系统样机的搭建。在此基础上,提出以IMU为主导的自适应步态检测算法,检测频率自适应于人体运动速度,实现步态信息的高效检测,并以检测信息为基础,提出“牛顿+三次指数平滑”预测算法,实时预测人体下肢动作。研究结果表明:功能外衣具有较高的刚度和良好的穿戴舒适性,符合功能外衣的设计要求;“牛顿+三次指数平滑”预测算法可实时预测50 ms之后的髋关节角度,预测过程稳定,在人体行走过程中,预测曲线平滑性较好,精度较高,可满足助力系统的步态预测要求,为下肢助力研究提供依据。
In order to enhance the motor function of the lower limbs,a flexible and functional Exosuit was developed,which covered the lower limbs of the human body and was used as the terminal effector of the assist system which assisted the flexion of the hip joint.At the same time,an external drive system with force position hybrid control was developed,and the prototype of the flexible lower limb assist Exosuit was preliminarily built.Based on IMU,an adaptive gait detection algorithm was proposed,and the detection frequency was adaptive to the speed of human movement to realize efficient detection of gait information.According to the detected information,the prediction algorithm of"Newton+triple exponential smoothing"was proposed to predict human lower limbs movements in real time.The results show that the functional Exosuit has high stiffness and good wear comfort,and it meets the design requirements of the functional Exosuit.Moreover,"Newton+triple exponential smoothing"prediction algorithm can predict the hip angle after 50 ms in real time and the forecasting process is stable,and the prediction curve is smooth and accurate during human walking,which meets the requirement of gait prediction and lays a partial foundation for the study of lower limb assist.
作者
张雷雨
贺彦东
李剑锋
苏鹏
陶春静
季润
董明杰
ZHANG Leiyu;HE Yandong;LI Jianfeng;SU Peng;TAO Chunjing;JI Run;DONG Mingjie(Beijing Key Laboratory of Advanced Manufacturing Technology,Beijing University of Technology,Beijing 100124,China;National Research Center for Rehabilitation Technical Aids,Beijing 100176,China)
出处
《中南大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2021年第4期1171-1184,共14页
Journal of Central South University:Science and Technology
基金
北京市自然科学基金资助项目(3202003,3171001,17L20019)
北京市教委科技计划项目(KM201810005015)
中国博士后科学基金资助项目(2018T110017)。
关键词
下肢助力
功能外衣
髋关节前屈
自适应步态检测
步态预测
lower limb assist
functional Exosuit
hip flexion
adaptive gait detection
gait prediction
