基于事件检测的下肢康复外骨骼服的设计

doi:10.11896/j.issn.1002-137X.2016.03.045

摘要/Abstract

摘要： 下肢康复外骨骼能辅助或替代医师完成下肢康复训练,并能帮助患者自立,重新融入社会。设计了一种基于事件检测的下肢康复外骨骼服,所谓事件是指人机接口获得的一些状态序列。基于事件的运动意图检测主要有两个目的:第一,以透明的方式检测穿戴者的运动意图；第二,提高运动意图检测的准确性和容错性。提出的下肢康复外骨骼服包括仿生机械结构、人机接口、控制器、电机驱动子系统和电源子系统。仿生机械结构用于支持骨骼服的重量以及穿用者的身体。电机驱动子系统采用盘式电机带动骨骼服的膝关节和髋关节。人机接口子系统通过传感器和传输网络,运用基于事件的运动意图检测技术感知患者的运动状态和运动意图。控制器采用位置闭环控制。仿真结果表明了系统的可行性和实用效果。

关键词: 外骨骼,康复,事件

Abstract: Lower limbs rehabilitation exoskeleton can assist or replace the doctor to complete rehabilitation training of lower limbs,and can help the patients recover self-reliance,and then reintegrate into society.A kind of lower limb rehabilitation exoskeleton suit based on event detection was designed in the paper.The so-called events refer to the information sequence detected by the man-machine interface.The movement intention detection based on events has two main purposes.One is to detect the wearer’s movement intention in a transparent way.The other is to improve the accuracy of motion intention detection.In the paper,the lower extremity exoskeleton suit includes a bionic mechanical structure,a man-machine interface,a controller,a driving subsystem based on motor and a power subsystem.The bionic structure is used to support the weight of the exoskeleton and the wearer’s body.A disk type motor is used to drive the knee joints and hip joints.Many sensors and a body sensor network are designed in the man-machine interface,and motion perception technology based on event is used to detect patient’s movement state and movement intention.The controller adopts the position closed loop control.Simulation results show the feasibility and the practical effect of the system.

Key words: Exoskeleton,Rehabilitation,Event

张向刚,石宇亮,张羿,王慧琴. 基于事件检测的下肢康复外骨骼服的设计[J]. 计算机科学, 2016, 43(3): 246-251. https://doi.org/10.11896/j.issn.1002-137X.2016.03.045

ZHANG Xiang-gang, SHI Yu-liang, ZHANG Yi and WANG Hui-qin. Design of Lower Limb Rehabilitation Exoskeleton Suit Based on Event Detection[J]. Computer Science, 2016, 43(3): 246-251. https://doi.org/10.11896/j.issn.1002-137X.2016.03.045

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