Exoskeleton robot assist control system and method based on fusion of myoelectricity and inertial navigation signals

Abstract

The invention discloses an exoskeleton robot power-assisted control system and method based on the fusion of myoelectric signals and inertial navigation signals, including: a sensor detection module used to detect the myoelectric signals of the biceps brachii of the upper limb of the human body and the movement of the human arm during the movement process. Attitude data; data acquisition and processing module, including real-time motion control system, analog signal output module, real-time motion control system obtains the current joint torque estimation value in real time through the torque estimation strategy based on electromyography The PID position control is carried out by the power control strategy based on the fusion of guide signals; finally, the power effect is quantitatively analyzed and measured based on the power effect evaluation module. The present invention uses a power-assisted control strategy based on the fusion of EMG signals and inertial navigation signals, which can output continuous control signals. more precise.

Description

technical field [0001] The invention relates to the field of power-assisted control of exoskeleton robots, in particular to a system and method for power-assisted control of exoskeleton robots based on the fusion of myoelectric signals and inertial navigation signals. Background technique [0002] With the development of society and the times, problems such as aging population, younger incidence of stroke, and frequent traffic accidents are becoming more and more serious. Motor dysfunction seriously threatens the life and health of the elderly and physically disabled patients, and brings a heavy burden to the society. economic and medical burden. Therefore, a human-machine fusion system that can restore human's impaired motor function and enhance its natural operation ability is urgently needed to be developed. Exoskeleton robots provide a feasible way out to solve these problems. They form an intelligent hybrid of human-machine coordination by wearing them in parallel on h...

AI Technical Summary

Problems solved by technology

[0005] However, for the control technology and strategy of exoskeleton robots, there are still the following deficiencies: (1) Although the accuracy of offline classification has reached a higher level of more than 90%, the online real-time rate and the simplicity of the algorithm cannot be guaranteed.

Moreover, the control strategy based on the classifier still needs to consume a lot of training time (2) The traditional control strategy based on the classifier, due to the discreteness of the classification results and the switching of the classification mode, the output of the controller is not completely continuous. The control effect of the robot is not stable enough, and the comfort of the human-computer interaction process is poor

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