Motion state discrimination method and system based on power-assisted exoskeleton robot

Abstract

The embodiment of the invention provides a motion state discriminating method and system based on an aiding exoskeleton robot. The method comprises the steps that an angle sensor and a pressure sensor are adopted for collecting the angle values of the human left hip joint and the human right hip joint within the current gait period, the pressure of the human left planta pedis and the human right planta pedis on the aiding exoskeleton robot and the pressure of a left planta pedis pedal and a right planta pedis pedal of the aiding exoskeleton robot on the ground; the accelerated speeds of the human left hip joint and the human right hip joint within the current gait period are calculated according to the angle values of the human left hip joint and the human right hip joint within the current gait period; the motion state of the human body within the current gait period is recognized according to the accelerated speeds of the human left hip joint and the human right hip joint, the angle values of the human left hip joint and the human right hip joint, the pressure of the human left planta pedis and the human right planta pedis on the aiding exoskeleton robot and the pressure of the left planta pedis pedal and the right planta pedis pedal of the aiding exoskeleton robot on the ground. According to the motion state discriminating method and system, the motion state recognition algorithm is simplified, the calculation amount of motion state recognition is reduced, implementation is easy, and good real-time performance is achieved.

Description

technical field

[0001] The invention belongs to the technical field of intelligent equipment, and in particular relates to a motion state discrimination method and system based on an assisting exoskeleton robot. Background technique

[0002] The power-assisted exoskeleton robot is a kind of intelligent mechanical device that imitates the physiological structure of the human body, can be worn by people, and assists the wearer while coordinating the movement of the wearer. It can improve people's physical fitness in specific aspects such as walking durability and weight-bearing capacity. When the power-assisted exoskeleton robot assists the human body to walk, it needs to judge the motion state of the human body before the lower limb joints move, and then provide appropriate auxiliary torque to each joint of the human body according to the motion state of the human body to help the human body walk. At present, the mainstream method of motion state discrimination adopted by pow...

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