外骨骼机器人的人体步态感知系统设计  

Design of human gait sensing system based on exoskeleton robot

作　　者：周攀[1] 杨勇[1] 马磊[1] 舒杨[2] 

机构地区：[1]西南交通大学电气工程学院,四川成都610031 [2]中国工程物理研究院总体工程研究所,四川绵阳621900

出　　处：《传感器与微系统》2016年第10期82-85,共4页Transducer and Microsystem Technologies

基　　金：国家自然科学基金重点资助项目(61433011);国家自然科学基金资助项目(61075104)

摘　　要：针对下肢负重外骨骼机器人与其穿戴者运动协调的问题,设计一种人体步态感知系统,对人体下肢关键部位的运动状态采集和预测。用6个MTI—30姿态传感器采集人体下肢的姿态数据;以ARM微处理器STM32F407为计算单元,对采集的步态数据解算、预测和传输;用非线性时间序列分析Takens算法预测人体下肢关键部位的旋转运动。实验结果表明:该系统功能稳定,能准确对人体下肢的步态数据采集和预测,预测结果稳定可靠,为外骨骼控制器提供可靠的参考信息。Aimed at problem of movement coordinating of exoskeleton with its wearer,a human gait sensing system is designed for aquistition and prediction of lower limbs＇ motion state of the wearer. The system uses six attitude sensors called MTI—30 to acquire human gait data. ARM microcontrollers known as STM32F407 are used as data computing units in the system. Acquired gait data are resolved,predicted and transmitted. Predict rotational motion of human legs by nonlinear time series analysis Takens algorithm. The result of experiments show that system has stable function and can accurately acquire and predict human gait data of human legs,the predicted result is stable and reliable,which provides reliable reference data for exoskeleton controller.

关 键 词：外骨骼 姿态传感器 步态感知 Takens算法 ARM 

分 类 号：TP274[自动化与计算机技术—检测技术与自动化装置]