视觉性下肢外骨骼下楼梯在线步态规划

Online Gait Planning of Visual Lower Exoskeleton Down Stairs

为了帮助脊椎损伤患者能在不同场合中下楼梯活动,提出了一种惯性测量单元(IMU)的适用于外骨骼下楼梯的步态规划算法去检验佩戴者的运动轨迹,同时使用深度相机作为视觉传感器实时检测楼梯环境。此种算法按照视觉传感器反馈的楼梯高度与宽度、穿戴者的下肢尺寸等数据对关节位置进行最优轨迹的规划,之后关节的角度轨迹利用逆运动学进行计算分析。最后通过多名实验者穿戴下肢外骨骼机器人在两种不同尺寸的楼梯上进行模拟实验,机器人根据不同环境规划出不同的步态轨迹去帮助穿戴者完成下楼梯的实验,且实际楼梯尺寸与深度相机检测的尺寸误差在2%以内。实验结果表明,运用此种算法的下肢外骨骼机器人可以为不同的人规划出适应不同尺寸楼梯的步态轨迹,从而验证了此种算法的有效性。

In order to help patients with spinal injuries to descend the stairs in different situations,an inertial measurement unit(IMU)gait planning algorithm for the exoskeleton descending stairs is proposed to verify the wearer’s trajectory while using a depth camera.The vision sensor detects the stair environment in real time.The algorithm plans the optimal trajectory of the joint position according to the height and width of the stair and the size of the wearer’s lower limbs fed back by the visual sensor.Then the angular trajectory of the joint is calculated and analyzed by inverse kinematics.Finally,a number of experimenters wore lower extremity exoskeleton robots to perform simulation experiments on two different sizes of stairs.The robots planned different gait trajectories according to different environments to help the wearer complete the downstairs experiment,and the actual staircase size and depth.The size error detected by the camera is within 2%.The experimental results show that the lower extremity exoskeleton robot using this algorithm can plan the gait trajectory for different people to adapt to different sizes of stairs,thus verifying the effectiveness of this algorithm.