Falling process stability predicting device and method based on plantar pressure sensing

Abstract

The invention discloses a falling process stability predicting device and a predicting method based on plantar pressure sensing. With the application of the falling process stability predicting device, plantar pressure information can be acquired and processed. The device comprises insoles, patch-type pressure sensors stuck on the back sides of the insoles, DSP microprocessors, serial port communication modules and upper computers. The falling process stability predicting method adopts a pressure central point based human falling process stability criterion. The device and the method, under the circumstance of just acquiring plantar pressure data, constitute a complete wearable assisting robot falling process predicting system. The device and the method provided by the invention can accurately predict the stability in a human body falling process by virtue of the plantar pressure data and can identify different stages of falling.

Description

technical field [0001] The invention relates to an application for stability recovery control of an elderly assistance robot, in particular to a device and method for predicting a fall process based on plantar pressure perception. Background technique [0002] The stable recovery performance of a wearable mobility-assisted lower-limb robot is critical for the safety of wearers with poor balance. When applying walking-assisting robots to the elderly, a group with relatively weak mobility, it is necessary to predict the wearer's fall tendency in advance to avoid damage to the human-machine system caused by the fall. [0003] In the exoskeleton lower limb walking robot system, most of the stability control methods are based on the ZMP theory. According to the joint angle, angular velocity and acceleration information of the wearer or the robot, the actual ZMP position is calculated, and then the stability control is realized based on the ZMP theory. However, the above method i...

AI Technical Summary

Problems solved by technology

For the application of assisting the elderly with healthy lower limbs to walk, the existing fall recognition methods do not take into account the dynamic stability changes in the fall process, and the fall behavior of the human body is actually a series of changes. During this change process, The stability of the man-machine system also changes accordingly. In order to realize the stable recovery of this process, different strategies need to be adopted according to the different degrees of stability during the fall process.

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