Human-machine cooperative control system for preventing fall of elderly person and control method thereof

Abstract

The invention discloses a human-machine cooperative control system for preventing the fall of an elderly person and a control method thereof. A feedforward and feedback composite control method is used, expected control target parameters of an elderly person companion robot are taken as a whole control input, a time domain feature of a touch-sliding force signal applied to a handle of the elderlyperson companion robot by a hand of the elderly person after feature extraction is used as a feedforward compensation link, and the influence of touch-sliding force on the control target parameters ofthe elderly person companion robot is eliminated. The actually measured control target parameters of the elderly person companion robot are taken as a feedback link, the precision of the control target parameters of the elderly person companion robot is improved, and the human-machine cooperative control for preventing the fall of the elderly person is achieved. According to the system and the method, the cooperative control of the elderly person and the elderly person companion robot can be achieved, the control target parameters of the elderly person companion robot are detected in real time, the expected control target can be accurately achieved, the balance and stability of the human-machine system is achieved, and thus the purpose of preventing the fall of the elderly person is achieved.

Description

technical field [0001] The invention belongs to the technical field of robot control, and in particular relates to a man-machine cooperative control system and a control method thereof for preventing elderly people from falling. Background technique [0002] As many countries are rapidly entering an aging society, more and more elderly people suffer from motor dysfunction or lower limb weakness caused by decreased nervous system control and muscle strength, but they have a strong desire for self-reliance and independent activities. In addition, the growing number of elderly people has led to a shortage of young personnel for care. Therefore, it is particularly necessary to develop a walking companion robot to replace nurses and family members to take care of the elderly. [0003] Many scholars in the world have studied various walking aid robots for the elderly, mainly including: Walking Aid developed by J S Kong et al., which can identify walking direction and speed to assi...

AI Technical Summary

Problems solved by technology

[0004] (1) Human-computer interaction is not natural enough

Although a variety of human-computer interaction interfaces for walking and walking robots have been developed, they are still in the stage of simple control of the equipment through the human-computer interface, and the ability to understand the user's action intention is still very limited, and the purpose of natural interaction cannot be achieved;

[0005] (2) The security system is not perfect enough

At present, the existing walking-assisting service robots for the elderly are all in the experimental research stage, and there is insufficient research on the possibility of danger in various environments and the corresponding safeguards. Safety guarantees are restricting the application of walking-aiding service robots for the elderly in real life. key obstacles;

[0006] (3) The real-time performance of the control system is poor, the power consumption is large, and the battery life is not high

Due to the fact that most of the existing control methods for preventing the elderly from falling use relatively simple control methods, and the effective human-computer interaction interface cannot be well designed, and there is a lack of research on the control target control and detection feedback of the robot itself. Realize the cooperative control of man-machine system

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