在摆动相中用于下肢外骨骼跟踪人体踝关节轨迹的方法

发布时间：2018-05-18 13:33

本文选题：人机位姿误差 + 踝关节　；参考：《东南大学学报(自然科学版)》2014年01期

【摘要】：为实现外骨骼摆动腿踝关节对人体踝关节运动轨迹的跟踪,建立了外骨骼摆动腿逆运动学模型与卡尔曼滤波预测模型,并在外骨骼摆动腿踝关节处设置人机位姿误差传感器,同时进行了人体步态实验.仿真中以实验测取的人体踝关节相对于其髋关节的运动轨迹作为外骨骼踝关节的跟踪对象,并依此计算外骨骼踝关节处人机位姿误差.采用卡尔曼滤波器对外骨骼摆动腿的髋、膝关节位置进行预测,再利用外骨骼逆运动学模型对预测结果进行校正.结果表明:该方法能良好地实现外骨骼摆动腿踝关节对人体踝关节的运动轨迹跟踪,并且卡尔曼滤波预测能明显改善跟踪的滞后性,同时仅需检测外骨骼踝关节处的人机位姿误差也有助于简化人机之间的传感器布置.
[Abstract]:In order to track the motion track of human ankle joint, the inverse kinematics model and Kalman filter prediction model of exoskeleton swinging leg were established, and the pose error sensor of human machine was set up at the ankle joint of exoskeleton swing leg. At the same time, the human gait experiment was carried out. In the simulation, the track of the human ankle relative to its hip is used as the tracking object of the exoskeleton ankle, and the pose error of the human machine is calculated. The position of hip and knee joint of exoskeleton swinging leg was predicted by Kalman filter, and the result was corrected by using exoskeleton inverse kinematics model. The results show that this method can achieve the track tracking of the ankle joint of the exoskeleton swing leg, and the Kalman filter prediction can obviously improve the lag of tracking. At the same time, it is necessary to detect the pose error of the human plane at the ankle joint of exoskeleton, which is also helpful to simplify the sensor arrangement between man and machine.
【作者单位】：东南大学机械工程学院;南京工程学院机械工程学院;
【基金】：国家自然科学基金资助项目(51205182) 江苏省普通高校研究生科研创新计划资助项目(CX10B-063Z,CXZZ_0140) 江苏省自然科学基金青年基金资助项目(BK2012474)
【分类号】：TH789

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