拟人步态算法在康复机器人系统的应用

Application of Anthropomorphic Gait Algorithm in Rehabilitation Robot System

文章介绍了一种简单高效的步态规划法在康复机器人上的实际应用。通过三个步骤描述了该算法的实际应用过程:首先是步态数据的采集,然后对采集到的数据进行滤波和分析,得到标准的步态曲线函数,最后对该函数进行优化和离散化,以适应电机控制,并最终用于机器人的控制。

This paper introduces the practical application of a simple and efficient gait planning method to rehabilitation robots.This paper describes the practical application process of the algorithm in three steps.The first step is to collect gait data,and then filter and analyze the collected data to obtain a standard gait curve function.Finally,the function is optimized and discretized for motor control and ultimately for robot control.