基于意图识别的环境自适应助行康复机器人分析-analysis of environment adaptive rehabilitation robot based on intention recognition.docxVIP

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基于意图识别的环境自适应助行康复机器人分析-analysis of environment adaptive rehabilitation robot based on intention recognition.docx

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基于意图识别的环境自适应助行康复机器人分析-analysis of environment adaptive rehabilitation robot based on intention recognition

AbstractThelackofnursingcarecomesalongwiththeagingsociety.Theelderlyneedtobemoreindependentfromtraditionalhuman-basednursingcare.Someresearchershavebeendoneonthewalking-aidrobotyetsomecriticalshortageskeeptherobotfrompracticalwork.Thispaperfocusesonarelativelylow-costwayfortheimplementofanintentionbasedenvironmentadaptivewalking-aidrobot,whichisdesignedtobecapableofmovinginalldirectionandpassingthroughnarrowspace,providingsafeandefficientwalkingassistanceforthepeoplewhohavedifficultiesinwalking.Thispaperintroducesthemechanicalstructure,controlsystemandcontrolalgorithmoftherobotinabottomtotopway.Firstly,wemakeaselectionofthedrivemoodandtheimplementoftheall-directiondrivebaseunderthemechanicaldesignprinciple.Thenwedividethecontrolsystemintofivemodulesaspowermanagement,signalprocessing,lower/uppercomputerprogramstructureandcommunicatingprotocol,andtransplantthecontrollerontodifferentplatform.Anewhuman-robotinteractivecontrolalgorithmbasedontheintentidentificationalgorithmisgivenandprovedtheoretically.Finallyweconductthreetypicalexperimentsasobstacleavoidance,fardistanceavoidanceandwalkingthroughnarrowaisle.Thevalidationofthecontrolalgorithmisprovedbytheanalysisoftheexperimentdata.Therobotwedevelopedinthispaperhasthefollowcharacteristics:(1)theunitybetweenthestabilityofmechanicalframeandthemovabilityinnarrowenvironment;(2)thesafetyassuranceincludingcollisionavoidanceandhuman-robottransactionaldistancerestrainduringco-movement;(3)simpleandeffectiveoperationinterface;(4)relativelylowcost.Forthereasonsabove,anewtypeofmechanicalframeandsensorarrayisimplemented.Inaddition,themotioncontrolalgorithmisalsopresented.Thefollowingexperimentsconductedundervariousenvironmentconditionsillustratethevalidityofthecontrolalgorithm.Keywords:RehabilitationRobotEnvironmentalAdaptationIntentIdentificationHuman-RobotInteractiveControlMotionControl目录摘要...............................................................................................................IAbstract........................