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Robot motion control method and system based on human motion intention detection

A technology of robot movement and movement intention, applied in passive exercise equipment, sensors, diagnostic recording/measurement, etc., can solve problems such as the inability to quickly detect human movement intentions, and the robot cannot quickly follow human movement, so as to avoid data processing and fast action, the effect of improving timeliness

Active Publication Date: 2019-06-25
SHANGHAI ELECTRICGROUP CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide a robot motion control method and system based on the detection of human motion intentions in order to overcome the defects in the prior art that human body motion intention cannot be quickly detected and the robot cannot quickly follow human body motion

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  • Robot motion control method and system based on human motion intention detection
  • Robot motion control method and system based on human motion intention detection
  • Robot motion control method and system based on human motion intention detection

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Embodiment 1

[0050] figure 1A robot motion control method based on human body motion intention detection according to this embodiment is shown. The robot motion control method includes:

[0051] Step 101: Obtain N levels of intensity of the human body's exercise intention, and the corresponding detection data features and preset intensity indicators of the robot at each intensity level of the human body's exercise intention. The detection data feature includes a detection data type and a data value range of the detection data type. Wherein, N is a positive integer. The specific value of N can be determined according to the actual situation.

[0052] Step 102: Collect actual detection data of the robot when the user uses the robot. The actual detected data includes actual data values ​​of the detected data type.

[0053] Step 103: Compare the actual detection data with the characteristics of the detection data, and identify the user's actual intensity level of exercise intention. The ...

Embodiment 2

[0069] This embodiment is a further improvement on the basis of Embodiment 1. In order to increase the flexibility of the robot's movement, the robot may include at least one joint, and controlling the movement of the robot generally refers to controlling the movement of the joint of the robot. Each joint is correspondingly provided with a torque sensor and a motor. When using the robot, the human body can integrate the robot with the user by wearing, wearing, binding or other methods. The joints of the robot correspond to the movable joints of the human body, and the torque sensor can detect the direction and torque value of the force exerted by the human body. The direction detected by the torque sensor represents the direction of the movement intention of the human body. The motor can control the movement direction, movement speed, etc. of the joint.

[0070] In this embodiment, the N exercise intention intensity levels of the human body may include N exercise intention ...

Embodiment 3

[0124] Image 6 A robot motion control device based on detection of human motion intention in this embodiment is shown. The robot motion control device includes: a level acquisition module 401 , a data collection module 402 , an intention recognition module 403 , a trajectory planning module 404 and a motion control module 405 .

[0125] The level acquisition module 401 is used to acquire the human body's N strong levels of exercise intention and the detection data characteristics and preset strength indicators corresponding to the robot when the human body is at each level of intensity of exercise intention. The detection data characteristics include the type of detection data and the The data value range of the detection data type, N is a positive integer. The specific value of N can be determined according to the actual situation.

[0126] The data collection module 402 is used to collect the actual detection data of the robot when the user uses the robot, and the actual ...

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Abstract

The invention discloses a robot motion control method and system based on human motion intention detection. The method comprises the steps: acquiring N motion intention intensity levels of a human body and detection data characteristics and preset intensity indexes corresponding to a robot when the human body is at each motion intention intensity level; collecting actual detection data of the robot when a user uses the robot; comparing the actual detection data with the characteristics of the detection data, and identifying the actual motion intention intensity level of a user; taking a presetintensity index corresponding to the actual motion intention intensity level as a parameter, and planning a motion track of the robot; and controlling the robot to move according to the motion track.According to the invention, the detection process of the motion intention of the human body is simplified as a whole, complex data processing is avoided, the lag time for detecting the motion intention of the human body is shortened, and the timeliness of the robot following the motion of a user is improved.

Description

technical field [0001] The invention belongs to the field of robot control, and in particular relates to a robot motion control method and system based on human body motion intention detection. Background technique [0002] With the development of robot technology, robots have been applied to various fields. For example, in the medical field, rehabilitation robots, as patient rehabilitation medical equipment, can assist patients in scientific and effective rehabilitation training, so as to achieve the purpose of restoring the patient's motor function. While providing safety protection for patients in rehabilitation training, strengthening the active movement intention of patients has the effect of strengthening and promoting the rehabilitation of patients' motor function, which is conducive to maintaining the mental tension of patients and strengthening the repair of neuromuscular motor pathways. [0003] When the human body wears or wears a rehabilitation robot, the rehabi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B5/11A61H1/00
Inventor 孙凤龙郭凤仙邢留涛汪从礼
Owner SHANGHAI ELECTRICGROUP CORP
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