A Safe and Compliant Noncontact Interactive Approach for Wheeled Walking Aid Robot | |
Zhao, Donghui1; Wang, Wei1; Okonkwo, Moses Chukwuka1; Yang ZH(杨子豪)1,2; Yang, Junyou1; Liu, Houde3 | |
刊名 | Computational Intelligence and Neuroscience |
2022 | |
卷号 | 2022页码:1-20 |
ISSN号 | 1687-5265 |
产权排序 | 2 |
英文摘要 | Aiming at promptly and accurately detecting falls and drag-to gaits induced by asynchronous human-robot movement speed during assisted walking, a noncontact interactive approach with generality, compliance and safety is proposed in this paper, and is applied to a wheeled walking aid robot. Firstly, the structure and the functions of the wheeled walking aid robot, including gait rehabilitation robot (GRR) and walking aid robot (WAR) are illustrated, and the characteristic futures of falls and the drag-to gait are shown by experiments. To obtain gait information, a multichannel proximity sensor array is developed, and a two-dimensional gait information detection system is established by combining four proximity sensors groups which are installed in the robot chassis. Additionally, a node-iterative fuzzy Petri net algorithm for abnormal gait recognition is proposed by generating the network trigger mechanism using the fuzzy membership function. It integrates the walking intention direction vector by taking gait deviation, frequency, and torso angle as input parameters of the system. Finally, to improve the compliance of the robot during human-robot interaction, a PID_SC controller is designed by integrating the gait speed compensation, which enables the WAR to track human gait closely. Abnormal gait recognition and assisted walking experiments are carried out respectively. Experimental results show that the proposed algorithm can accurately identify abnormal gaits of different groups of users with different walking habits, and the recognition rate of abnormal gait reaches 91.2%. Results also show that the developed method can guarantee safety in human robot interaction because of user gate follow-up accuracy and compliant movements. The noncontact interactive approach can be applied to robots with similar structure for usage in walking assistance and gait rehabilitation. |
WOS关键词 | FALL DETECTION ; SHARED CONTROL ; PREVENTION ; DESIGN ; WALKER |
WOS研究方向 | Mathematical & Computational Biology ; Neurosciences & Neurology |
语种 | 英语 |
WOS记录号 | WOS:000778450200010 |
内容类型 | 期刊论文 |
源URL | [http://ir.sia.cn/handle/173321/30787] |
专题 | 沈阳自动化研究所_数字工厂研究室 |
通讯作者 | Zhao, Donghui |
作者单位 | 1.School of Electrical Engineering, Shenyang University of Technology, Shenyang, China 2.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 3.Center for Artificial Intelligence and Robotics, Tsinghua University, Shenzhen, China |
推荐引用方式 GB/T 7714 | Zhao, Donghui,Wang, Wei,Okonkwo, Moses Chukwuka,et al. A Safe and Compliant Noncontact Interactive Approach for Wheeled Walking Aid Robot[J]. Computational Intelligence and Neuroscience,2022,2022:1-20. |
APA | Zhao, Donghui,Wang, Wei,Okonkwo, Moses Chukwuka,Yang ZH,Yang, Junyou,&Liu, Houde.(2022).A Safe and Compliant Noncontact Interactive Approach for Wheeled Walking Aid Robot.Computational Intelligence and Neuroscience,2022,1-20. |
MLA | Zhao, Donghui,et al."A Safe and Compliant Noncontact Interactive Approach for Wheeled Walking Aid Robot".Computational Intelligence and Neuroscience 2022(2022):1-20. |
个性服务 |
查看访问统计 |
相关权益政策 |
暂无数据 |
收藏/分享 |
除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。
修改评论