军用外骨骼传感系统设计与步态识别研究  

Research on Sensing System Design and Gait Recognition for the Military Exoskeleton

作　　者：宋鹏 莫新民[1] 周加永[1] 吕启元[1] SONG Peng;MO Xin-min;ZHOU Jia-yong;LV Qi-yuan(Northwest Institute of Mechanical&Electrical Engineering,Shaanxi Xianyang 712099,China)

机构地区：[1]西北机电工程研究所,陕西咸阳712099

出　　处：《机械设计与制造》2018年第A02期175-177,共3页Machinery Design & Manufacture

摘　　要：为提高军用外骨骼无滞后地完成运动跟随性的能力,设计了一种基于姿态传感器和薄膜压力传感器的外骨骼传感系统。通过传感系统采集并解算出的下肢关节角度和脚底压力作为信号输入,提出了一种基于BP神经网络的步态识别方法,并采用LabVIEW软件进行了仿真实现。通过对比发现髋关节角度特征值相较于膝关节角度特征值和踝关节角度特征值,可以更好地区分开各步态路况。同时步态识别仿真结果表明了设计的军用外骨骼传感器系统和提出的步态识别方法的合理性和可行性。In order to improve motion following ability of the military exoskeleton without lag,an exoskeleton sensing system is designed by using attitude sensors and thin film pressure sensors.With the joint angle and plantar pressure that collected and calculated by the sensing system as input signal,a gait recognition method based on BP neural network is proposed.Compared with that for knee and ankle,the charact-eristic value of joint angle for hip can better identify the various gait road conditions.Meanwhile,simulation results of the gait recognition demonstrate the rationality and feasibility of the exoskeleton sensing system and the gait recognition method.

关 键 词：军用外骨骼 传感系统 步态识别 BP神经网络 髋关节 LabVIEW 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]