助老伴行机器人的触滑觉驱动控制系统设计开发

Research on Tactile-slip Man-machine Interaction Control System of Elderly-assistant & Walking assistant Robot

摘要:

为了帮助老年人能够更加柔顺自然的与助老伴行机器人之间进行交互，设计开发了一种基于触滑觉感知的助老伴行机器人驱动控制系统。首先提出了助老伴行机器人触滑觉驱动控制系统的总体设计方案；然后设计开发了一种触滑觉感知系统，并以助老伴行机器人机械本体为基础设计搭建了完整的驱动控制系统；提出并研究了一种基于BP神经网络的助老伴行机器人驱动模式识别方法。最后，对整个系统进行集成并进行了试验。结果表明：为助老伴行机器人设计开发的触滑觉驱动控制系统是完全可行的，能够实现老年人与助老伴行机器人之间的驱动控制功能。

关键词:触滑觉感知，模式识别，助老伴行机器人，驱动控制系统

Abstract:

In order to help the elderly to interact more smoothly with the Elderly-assistant & Walking assistant Robot, an Elderly-assistant & Walking assistant Robot control system based on tactile-slip human-computer interaction is designed in this paper. Firstly, the overall design proposal of the man-machine interaction control system based on Elderly-assistant & Walking assistant Robot was presented. Then a tactile-slip man-machine interaction system was designed and developed, and a complete man-machine interaction control system was established based on the body of Elderly-assistant & Walking assistant Robot. A pattern recognition method driving Elderly-assistant & Walking assistant Robot was proposed based on BP neural network. Finally, the entire system is integrated and tested. The results show that the entire robotic interaction control system is completely achievable, and the system can realize the interactive control of the Elderly-assistant & Walking assistant Robot.

Key words:actile interaction; Pattern recognition; Elderly-assistant & Walking assistant Robot; Drive and control system