士兵可穿戴下肢外骨骼机器人多元感知方法研究

Study on multi-sensing method of wearable lower extremity exoskeleton robot for soldiers

摘要:

下肢外骨骼机器人是一种可穿戴且融合了多种机器人技术的复杂人-机系统。它将人类的智慧与机器人强壮的能力有效地结合起来,最大限度地提高人体的机动力和耐力,这为提升单兵作战系统的能力创造了条件。鉴于下肢外骨骼机器人在作战、后勤保障时可能遇到的复杂地形、多变随机的任务等,仅通过基于既定的典型步态规划程序驱动执行已知的特定动作,难以保证人机间的耦合性和动作的高随意性切换。为此,模拟并提炼出士兵常见的六种下肢动作作为后续研究,然后分析了下肢外骨骼机器人的感知控制原理,并提出了基于脑电预判感知、肌电精确感知和光纤实时校正的多信息融合的感知方法,强调将人的智能参与到机器人控制中,以期推进士兵可穿戴下肢外骨骼机器人的实用化。

Abstract:

Wearable Lower extremity exoskeleton robot system which was fused a variety of robot technology combined the human intelligence and robot ability effectively and maximized the mobility and endurance of soldiers. This has created conditions for promoting the ability of individual combat system. Considering the complex terrain and changeable random task that lower extremity exoskeleton robot may met in combat, man-machine coupling and high random switching between actions were difficult to guarantee based on typical gait planning procedures for driving the execution of specific actions. Therefore, six actions of lower limbs have been simulated and extracted to analyze the lower extremity exoskeleton robot perception control principles. At last a sensing fusion method of EEG prognosis, sEMG precise sensing and optical fiber real-time correction was proposed to involve the intelligence of people into the control of robot in order to promote the practicality of wearable lower extremity exoskeleton robot for soldiers.