基于物理人机交互的智能助行器实时控制研究

发布时间：2018-05-26 09:39

本文选题：助行器 + g-h滤波器　；参考：《计算机应用研究》2017年05期

【摘要】：针对大多数助行器没有集中研究传感器接口采集信号的问题以及缺乏对人机交互过程中主要参数的分析,提出一种运动辅助和监控系统援助的助行器(MAMAW),其主要目的是改进助行器的安全性和稳定性。首先,控制杆快速提取用户运动指令,由于这些信号中存在一种高频率信号分量,所以使用Benedict-Bordner g-h滤波器衰减这些高频分量;然后,分类交互信号并且通过模糊逻辑控制器将信号转换成运动指令;最后,提出的助行器考虑了使用过程中可能存在的跌倒情况,所以将安全模块的输出优先级提到最高,可直接使助行器运动或停止。实验结果表明提出的助行器能够按照用户期望方向平稳安全运行,且没有发生碰撞,完美地矫正了获取的数据并推理出了用户的指令意图;另外控制策略的计算量低且响应迅速。
[Abstract]:In view of the fact that most walkers do not concentrate on collecting signals from the sensor interface and lack of analysis of the main parameters in the process of human-computer interaction, In this paper, a walking aid for motion assistance and monitoring system is proposed, which aims to improve the safety and stability of the mobility aids. First, the control rod quickly extracts the user's motion instructions, which are attenuated by the Benedict-Bordner g-h filter because of the presence of a high-frequency signal component in these signals. The interactive signals are classified and the signals are converted into motion instructions by the fuzzy logic controller. Finally, the proposed walker takes into account the possible falls in the process of use, so the output priority of the security module is raised to the highest. You can make the walker move or stop directly. The experimental results show that the proposed walker can run smoothly and safely according to the desired direction of the user, and there is no collision, so the acquired data can be corrected perfectly and the user's instruction intention can be deduced. In addition, the calculation of the control strategy is low and the response is fast.
【作者单位】：广东工业大学实验教学部;广东工业大学机电工程学院;
【基金】：国家自然科学基金资助项目(51305084)
【分类号】：TH789;TP212.9

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