基于非接触式电容传感的人体运动意图识别  

Noncontact Capacitive Sensing Based Human Motion Intent Recognition

作　　者：王启宁[1,2] 郑恩昊 许东方 麦金耿[1] WANG Qining;ZHENG Enhao;XU Dongfang;MAI Jingeng(College of Engineering,Peking University,Beijing 100871;Beijing Innovation Center for Engineering Science and Advanced Technology(BIC-ESAT),Beijing 100871;The State Key Laboratory of Management and Control for Complex Systems,Institute of Automation,Chinese Academy of Sciences,Beijing 100190)

机构地区：[1]北京大学工学院,北京100871 [2]北京大学工程科学与新兴技术高精尖创新中心,北京100871 [3]中国科学院自动化研究所复杂系统管理与控制国家重点实验室,北京100190

出　　处：《机械工程学报》2019年第11期19-27,共9页Journal of Mechanical Engineering

基　　金：国家自然科学基金资助项目(91648207,61703400)

摘　　要：人体运动意图的准确可靠识别是人机共融中的关键问题之一。针对现有研究中的局限和不足,提出了全新的非接触式电容传感方法。该方法以金属电极不接触皮肤的方式测量肌肉收缩信号。介绍了电容传感的原理,分析了基于该方法测量肌肉收缩形状变化的机理。分别介绍了非接触式电容传感方法在小腿智能动力假肢控制和上肢运动识别中的应用。针对下肢智能假肢控制,提出了基于非接触式电容传感的运动模态以及模态切换的识别。为了进一步提高系统的可穿戴性,提出了基于柔性可延展液态金属电极的电容传感系统并进行了初步的试验验证;针对上肢运动识别,首先介绍了用于腕关节离散运动模式的识别研究,其次介绍了基于电容传感对连续握力的识别和估计,证实了电容传感这一全新方法在上肢运动识别中的可行性。未来会在穿戴式机器人控制以及协作性机器人模仿学习中对电容传感方法进行更深入的研究。Accurate and reliable recognition of human motion intent is an important issue in the field of tri-co robotics.A noncontact capacitive sensing approach is proposed which can measure muscle contraction signals by freeing human skin from contacting to metal electrodes.The method is proposed to address the issues in biological-signal-based human motion sensing.We then introduced four case studies of noncontact capacitive sensing.The first study involved locomotion transition recognition on transtibial amputees wearing lower-limb robotic prostheses.The second one is the initial study on new capacitive sensing electrodes with liquid metal electrode,the purpose of which is to build a soft elastic capacitive sensing front-end for more compatible dressing.By comparison the last two studies are applications of the capacitive sensing method on human upper limb motion recognition to prove the feasibility of the new method on upper limb motion sensing.The third one is the forearm discrete motion pattern recognition and the last case is the continuous grasp force estimation with the capacitance signals.The results of the studies suggest the promise of the new sensing method.In future works,the noncontact capacitive sensing approach will be further studied for the control of wearable robots and collaborative robots.

关 键 词：人体运动意图识别 非接触式电容传感 下肢智能假肢 上肢运动识别 

分 类 号：TG156[金属学及工艺—热处理]