A Real-time Prediction Method of Lower Extremity Motion Joint Angle Based on Similarity Rule Search

Abstract

The invention discloses a real-time prediction method for lower limb motion joint angles based on similarity rule search: obtain the motion law of the lower limbs; for a single joint, obtain the six-axis data and joint angle angle in the periodic motion of the lower limbs, and obtain the motion at each sampling time Data column vector and joint angle label vector; continuously obtain motion data frames and joint angle label frames through sliding windows, and build joint motion law database; match current motion frame acquired by real-time sliding window with historical frame sequence in joint motion law database , find the historical frame with the highest matching degree, and use the corresponding sampling point coordinates as the best matching position; use the value of the joint angle label frame after the sampling point as the joint angle prediction value at the next sampling point time, to realize multiple future Joint Angle Prediction at Consecutive Moments. The invention can effectively improve the hysteresis of the following control of the current wearable robot, and improve the wearing comfort.

Description

technical field [0001] The invention relates to the technical field of real-time continuous prediction of human motion intentions, in particular to a method for real-time prediction of lower limb motion joint angles based on similarity rule search. Background technique [0002] With the continuous development of wearable robot technology, its control requirements are gradually changing and advancing from passive control to active control. Among its key technologies, the control of compliance has become a bottleneck restricting its development, and the perception and prediction of human motion intention is the key to restricting compliance control. Currently, human intention perception prediction methods mainly include intention perception prediction based on EEG, EMG, and physical motion sensors. The EEG signal is generated at the front end of the intention transmission process, ahead of the movement of the lower limbs, but it is difficult to identify and cannot be applied ...

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to solve the problem of real-time prediction of the joint angle of the lower limbs, realize the real-time construction of the prediction model and the real-time accurate prediction of the joint angle, and improve the compliance control performance of the existing wearable robot. The real-time prediction method of the joint angle of the lower limbs uses physical motion sensors to obtain the movement laws of the lower limbs, builds a database of joint movement laws, searches based on similar laws and uses historical laws to realize future movement predictions, so as to realize real-time prediction of the joint angles of the lower limbs. The invention not only has a fast prediction speed, but also realizes the online real-time construction of the prediction model, and the algorithm has high robustness

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