Man-machine hybrid coordinated motion user intention estimation method and system

A hybrid system and motion intention technology, applied in the field of intelligent robots, can solve problems such as uncoordinated walking and falls, and achieve the effects of preventing uncoordinated motion, smooth motion control, and avoiding unsafe walking

Active Publication Date: 2020-09-01
WUHAN INSTITUTE OF TECHNOLOGY
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Problems solved by technology

At the same time, the service object of the intelligent walker robot is the elderly or the disabled. During the use process, ...

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  • Man-machine hybrid coordinated motion user intention estimation method and system
  • Man-machine hybrid coordinated motion user intention estimation method and system
  • Man-machine hybrid coordinated motion user intention estimation method and system

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Embodiment Construction

[0049] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0050] Such as figure 1 As shown, the present invention provides a method for estimating user intentions of a human-machine hybrid system coordinated movement, comprising the following steps:

[0051] S1. Use the force sensor module 1 to estimate the movement intention of the user's upper limbs in the human-machine hybrid system, and obtain the real-time movement intention velocity V of the user's upper limbs H ;

[0052] S2. Use the laser rangefinder 2 to estimate the movement intention of the user's lower limbs in the human-machine hybrid system, and obtain the real-time movement intention velo...

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Abstract

The invention discloses a man-machine hybrid system coordinated motion user intention estimation method. A force sensor module and a laser range finder are used for obtaining the real-time movement intention speed VH of the upper limb of a user and the real-time movement intention speed VL of the lower limb of the user respectively, a flexibility parameter S of a man-machine hybrid system is set,and the flexibility parameter S of the man-machine hybrid system is adjusted through a fuzzy control method; heterogeneous sensor fusion is performed on the real-time motion intention speed VH of theupper limb of the user, the real-time motion intention speed VL of the lower limb of the user and the flexibility parameter S of the man-machine hybrid system to obtain an accurate user motion intention speed VF; and the accurate user motion intention speed VF is sent to an auxiliary robot, and smooth motion of the auxiliary robot is achieved. According to the invention, flexible robot motion control can be realized to the greatest extent, inharmonious motion of a robot and a user is prevented, and unsafe driving of the user is avoided.

Description

technical field [0001] The invention relates to the field of intelligent robots, in particular to a method and system for estimating user intentions of human-machine hybrid coordinated motion. Background technique [0002] The situation of my country's aging population is constantly intensifying, and the demand for services to help the elderly, weak, sick and disabled is also increasing. Especially for those elderly and disabled people who live alone and have limited mobility, a large part of the reason for their loss of independent living is that they cannot walk independently, so it is very meaningful to study intelligent walking robots that can help them achieve independent living. [0003] In the existing walking-assisting robot systems, the coordinated movement between the user's upper and lower limbs in the walking-assisting robot system is rarely considered, and there are relatively few related studies. Some scientific research institutions and companies are conducti...

Claims

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Application Information

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IPC IPC(8): G06K9/00G06K9/62
CPCG06V40/20G06V20/10G06F18/25Y02P90/02
Inventor 徐文霞曹轩于宝成吴静
Owner WUHAN INSTITUTE OF TECHNOLOGY
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