计算机科学 ›› 2014, Vol. 41 ›› Issue (10): 42-44.doi: 10.11896/j.issn.1002-137X.2014.10.009
高增桂,孙守迁,张克俊,佘铎淳,杨钟亮
GAO Zeng-gui,SUN Shou-qian,ZHANG Ke-jun,SHE Duo-chun and YANG Zhong-liang
摘要： 外骨骼机器人人机交互是当前的研究热点,通常需要获取人体相关运动信息作为控制信号源。为了采集人体步态数据,研究了生理信号与关节运动之间的关联机制,设计了一种步态数据获取系统,其利用鞋内薄膜压力传感器和关节角度传感器组成测试设备,成功采集了15组健康男子在3km/h、4km/h和5km/h 3种速率下自然行走的步态数据。提出采用基因表达式编程建立膝关节运动识别模型,并使用所采集的步态数据进行训练和验证。结果显示,利用此模型可有效进行关节运动的识别和预测,验证了本系统作为外骨骼人机接口的可行性。
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