Multi-Channel Fusion Model of Perception System in Lower Extremity Exoskeleton Suits and its Implementation
the human exoskeleton suit is a complex servo system characterized by high degree of human-machine coupling,which means that exoskeleton suit would be able to follow or synchronize with the human body movement.The perception system,which is responsible for sensing the wearers movement and movement intention,plays a key role in realizing human-machine coupling.How to build a perception system in human exoskeleton suit? In the paper,a multi-channel perception model is described,through which the data from multi-channels is gathered,fused,and then wearers movement and movement intention are sensed and transmitted to the controller.In order to easily gather the information from various sensors and devices,interface management layer is introduced.Meanwhile,it also can provide the support for redundancy,fault tolerance,and adaptation in dynamic environments.After being gathered,how do the data from heterogeneous sensors be integrated?How would the data been interpreted into accurate and comprehensive movement posture? In the paper,the three methods,which are time correlation,posture perception and movement prediction,are used to implement the data fusion.Meanwhile,a prototype based on this model was implemented in our human exoskeleton suit.in the paper,the layout of sensors,hardware,software,algorithms,and test of the prototype are explained.
Exoskeleton Human-machine coupling Multi-channel
Xianggang Zhang Caoyuan Zhao Qingxia Lin Qifang Zhou
School of Aeronautics and Astronautics,University of Electronic Science and Technology of China Chengdu,Sichuan province,China
国际会议
杭州
英文
834-839
2013-03-22（万方平台首次上网日期，不代表论文的发表时间）