助行机器人系统设计

Design of a walker robot

提出了一种由行走意图引导和动力驱动的搀扶助行机器人系统ZJU Walker,该机器人系统能够为使用者提供身体支撑、行走辅助,并同时保证行走过程的安全性和舒适性。系统采用扭矩传感器作为人机接口感知使用者行走意图,并通过加速度传感器监测使用者行走步态,采用共享控制的方法结合行走意图以及由超声波传感器、红外测距传感器检测到的环境信息控制机器人的运动。介绍了机器人系统的总体框架、传感器系统以及运动控制算法的设计,并给出了实验数据以证明机器人系统的有效性。

An active type of robotic mobility aid ZJU Walker is presented. ZJU Walker is designed to facilitate safe mobilization for elderly. It provides physical support and walking assistance. ZJU Walker uses torque sensors as a main user interface to sense user＇ s walking intent and an accelerometer to monitor the user＇ s gait. A shared control system is allocated between the user and the walker. It integrates the user＇ s intent and environment information detected by the sonar sensors and infrared sensors to control the walker＇ s motion. Issues of system description,sensing, and control approach are presented. The validity of the design is verified by the experimental results.