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Falling detection method of omnibearing walking training robot based on fuzzy reasoning

A walking training and fuzzy reasoning technology, applied in reasoning methods, instruments, sensors, etc., can solve problems such as easy falls and secondary injuries

Active Publication Date: 2020-08-25
SHENYANG POLYTECHNIC UNIV
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Problems solved by technology

Due to muscle weakness in the lower extremities, people tend to fall when using WTR for walking training, causing secondary injuries

Method used

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  • Falling detection method of omnibearing walking training robot based on fuzzy reasoning
  • Falling detection method of omnibearing walking training robot based on fuzzy reasoning
  • Falling detection method of omnibearing walking training robot based on fuzzy reasoning

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Embodiment Construction

[0067] A fall detection method for an all-round walking training robot based on fuzzy reasoning, the steps of the method are as follows:

[0068] (1) Collect the actual displacement data of the user's feet from the laser sensor, and record the displacement of the left foot as L l , the displacement of the right foot is denoted as L r ; Collect the rotation angle of Roll around the earth coordinate system X as the target variable, denoted as θ x ;

[0069] (2), the data collected in (1) step is preprocessed (L l ,, L r and θ x are processed);

[0070] (3), input the preprocessed data obtained in step (2) into the fuzzy rule knowledge base, calculate the fuzzy subset of the output variables in the safe state, obtain the output variables in the safe state, and according to the output in the safe state The variable calculates the degree of membership of the security state;

[0071] (4) Judging the user's safety status through the degree of membership in step (3), and then c...

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Abstract

The invention discloses a falling detection method of an omnibearing walking training robot based on fuzzy reasoning. The method comprises the steps of (1), collecting actual displacement data of thedistance between the feet of a user and a laser sensor, recording the left foot displacement as Ll, recording the right foot displacement as Lr, collecting a rotation angle of Roll around an earth coordinate system X as a target variable, and recording the target variable as [theta]x; (2), preprocessing the collected data; (3), inputting the preprocessed data obtained in the step (2) into a fuzzyrule knowledge base, calculating a fuzzy subset of output variables in a safe state, obtaining the output variables in the safe state, and calculating the membership degree of the safe state accordingto the output variables in the safe state; and (4), judging the safety state of the user through the membership degree in the step (3), and then controlling the omnibearing walking training robot according to the safety state. When the walking training robot is used, once it is detected that the walking training robot is about to fall down, the walking training robot stops immediately when it isdetected that the walking training robot is about to fall down, and therefore secondary injury is effectively avoided.

Description

technical field [0001] The method is a fall detection design method for an all-round walking training robot (WTR). The method detects the state of a person during walking by using a fuzzy reasoning method, and prevents the user from falling by controlling the speed of the WTR. Background technique [0002] Population aging is an important demographic characteristic of modern society. Diseases and traffic accidents also lead to an increase in the number of disabled people. More and more people use WTR to train their lower limbs to restore their walking ability. Due to muscle weakness in the lower extremities, people tend to fall when using WTR for walking training, causing secondary injuries. Contents of the invention [0003] Purpose of the invention: The present invention aims at the deficiencies of the existing WTR fall detection technology, and proposes a method of improving fuzzy reasoning to detect people's falls, with the purpose of preventing the elderly or the disa...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B5/11G01C23/00G06F17/16G06N5/04
CPCA61B5/1117G01C23/00G06F17/16G06N5/048
Inventor 王义娜熊文秋杨俊友刘中亮
Owner SHENYANG POLYTECHNIC UNIV
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