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Gaussian process regression-based flexible exoskeleton optimal assistance prediction method

A technology of Gaussian process regression and prediction method, which is applied in the field of robotics and can solve the problems of too fast and too large output boosting amplitude.

Inactive Publication Date: 2021-04-30
TIANJIN UNIVERSITY OF TECHNOLOGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] The purpose of the present invention is to provide a flexible exoskeleton based on Gaussian process regression optimal assist prediction method, which can overcome the shortcomings of the least squares linear regression method leading to excessive output assist amplitude, too fast, is a simple and The easy-to-implement optimal power assist prediction method for flexible exoskeletons is conducive to improving the safety and reliability of exoskeleton use, reasonably and effectively predicting the magnitude of the output power assist amplitude, and the results are more accurate

Method used

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  • Gaussian process regression-based flexible exoskeleton optimal assistance prediction method
  • Gaussian process regression-based flexible exoskeleton optimal assistance prediction method
  • Gaussian process regression-based flexible exoskeleton optimal assistance prediction method

Examples

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Embodiment

[0041] Embodiment: a kind of flexible exoskeleton based on Gaussian process regression optimal assistance prediction method, comprises the following steps:

[0042] (1) Establish a data set of comfortable assistance for different groups of people and at different speeds, establish the characteristics of the human body model of the tester, and establish the data set (X, Y) of the sample on this basis;

[0043] Among them, the method of establishing a data set of comfortable assistance for different groups of people and at different speeds, such as figure 1 As shown, it consists of the following steps:

[0044] ①Let testers of different age groups and different human characteristics wear the exoskeleton equipment and walk on the treadmill at a speed of 7.5Km / h;

[0045] ②The motor carried by the exoskeleton first gives an initial boosting amplitude of 24N by driving the contraction and stretching of the flexible nylon belt;

[0046] The shrinkage and stretching of the flexible...

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Abstract

The invention discloses a Gaussian process regression-based flexible exoskeleton optimal assistance prediction method, which comprises the following steps of: establishing comfortable assistance data sets of different crowds at different synchronous speeds, determining human body model characteristics of testers, establishing data sets (X, Y) of samples on the basis, establishing the data sets, training the data sets, directly defining distribution of a prediction function in a Gaussian process regression mode, so that the predicted assistance amplitude is within a more reasonable range, smooth assistance to legs is truly achieved, and injured skeletons, muscles and joints are helped to play a role in assisting rehabilitation.

Description

[0001] (1) Technical field: [0002] The invention belongs to the technical field related to robots, and relates to the optimization of assist parameters of a gait rehabilitation flexible exoskeleton robot, in particular to a method for predicting the optimal assist of a flexible exoskeleton based on Gaussian process regression. [0003] (two) background technology: [0004] With the growth of age, the strength of the lower limbs of the human body gradually weakens, the bones of the human body begin to become brittle, the muscles begin to degenerate, the range of motion of the joints decreases, and there are labors that cannot engage in heavy loads and long-term standing and walking. Life has brought great troubles. In order to reduce the pressure on the legs caused by aging, so that people's leg activities can still be carried out normally, and maintain normal production and living work, a flexible exoskeleton robot for gait rehabilitation has emerged as the times require. ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F30/27G06F30/17A61H1/02A63B23/04A63B21/00A63B24/00G06F119/14
CPCG06F30/27G06F30/17A61H1/0262A63B23/04A63B21/00181A63B24/0075A63B24/0087A63B24/0006G06F2119/14A61H2201/165A61H2201/1642A61H2201/5058A61H2201/5061A61H2205/10A61H2201/50A61H2201/5007A63B2024/0081A63B2024/0012A63B2220/50A63B2220/51A63B2220/80
Inventor 孙磊曾德添董恩增佟吉刚陈鑫李云飞龚欣翔李成辉
Owner TIANJIN UNIVERSITY OF TECHNOLOGY
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