Design of human gait sensing system based on exoskeleton robot

ZHOU Pan; YANG Yong; MA Lei; SHU Yang

doi:10.13873/J.1000-9787(2016)10-0082-04

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Design of human gait sensing system based on exoskeleton robot

更新时间：2025-09-11

- Design of human gait sensing system based on exoskeleton robot
- Vol. 35, Issue 10, Pages: 82-85(2016)
- 作者机构：
  
  1. 西南交通大学电气工程学院
  2. 中国工程物理研究院总体工程研究所
- 作者简介：
- 基金信息：
- DOI：10.13873/J.1000-9787(2016)10-0082-04
  CLC： TP242
- Published：2016
- 稿件说明：
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[1]周攀,杨勇,马磊,舒杨.外骨骼机器人的人体步态感知系统设计[J].传感器与微系统,2016,35(10):82-85.

ZHOU Pan, YANG Yong, MA Lei, et al. Design of human gait sensing system based on exoskeleton robot[J]. 2016, 35(10): 82-85.
[1]周攀,杨勇,马磊,舒杨.外骨骼机器人的人体步态感知系统设计[J].传感器与微系统,2016,35(10):82-85. DOI： 10.13873/J.1000-9787(2016)10-0082-04.

ZHOU Pan, YANG Yong, MA Lei, et al. Design of human gait sensing system based on exoskeleton robot[J]. 2016, 35(10): 82-85. DOI： 10.13873/J.1000-9787(2016)10-0082-04.

摘要

针对下肢负重外骨骼机器人与其穿戴者运动协调的问题

设计一种人体步态感知系统

对人体下肢关键部位的运动状态采集和预测。用6个MTI—30姿态传感器采集人体下肢的姿态数据;以ARM微处理器STM32F407为计算单元

对采集的步态数据解算、预测和传输;用非线性时间序列分析Takens算法预测人体下肢关键部位的旋转运动。实验结果表明:该系统功能稳定

能准确对人体下肢的步态数据采集和预测

预测结果稳定可靠

为外骨骼控制器提供可靠的参考信息。

Abstract

Aimed at problem of movement coordinating of exoskeleton with its wearer

a human gait sensing system is designed for aquistition and prediction of lower limbs’ motion state of the wearer. The system uses six attitude sensors called MTI—30 to acquire human gait data. ARM microcontrollers known as STM32F407 are used as data computing units in the system. Acquired gait data are resolved

predicted and transmitted. Predict rotational motion of human legs by nonlinear time series analysis Takens algorithm. The result of experiments show that system has stable function and can accurately acquire and predict human gait data of human legs

the predicted result is stable and reliable

which provides reliable reference data for exoskeleton controller.

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references

一种基于多传感器的步态相位实时检测系统 [J]. 周小华,李娟,李伟达,李春光,胡海燕,张虹淼. 传感器与微系统 . 2016(02)

实测海杂波光电图像混沌特性研究 [J]. 李正周,丁浩,刘梅,田蕾,金钢. 传感器与微系统 . 2013(04)

人体下肢外骨骼设计与仿真分析 [J]. 赵彦峻,徐诚. 系统仿真学报 . 2008(17)

混沌时间序列改进的加权一阶局域预测法 [J]. 孟庆芳,彭玉华. 计算机工程与应用 . 2007(35)

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