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基于六维力传感器运动意图的识别

Recognition of Movement Intention Based on Six-Axis Force Sensor
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摘要 为解决上肢康复机器人在运动意图识别中识别信息稳定性低及采集过程复杂等问题,本文提出一种基于六维力传感器识别手部运动行为意图的人机交互系统,其涉及到位移方向及速度的变化。创建一个实时系统,利用六维力传感器获取人机交互力数据,通过二阶低通滤波方法对数据进行分析和处理,推导出运动意图信号,将其用于控制康复机器人的运动,最后建立合力与机器人运动速度之间的数学函数关系,更精细地调控机器人的运动过程。实验结果表明,六维力传感器能够准确识别患者的运动意图,实时接收患者施加力的变化并进行相应运动,达到预期目标。该研究具有一定的实际应用价值。 In order to solve the problems of low stability of identification information and complicated acquisition process of upper limb rehabilitation robots in movement intention recognition,a human-computer interaction system based on six-dimensional force sensors to identify hand movement intention is proposed,which only involves the displacement direction and speed change.Firstly,a real-time system is created,using a six-dimensional force sensor to obtain human-computer interaction force data,and analyzing and processing these data through a second-order low-pass filtering method to derive the motion intention signal.These movement intention signals will be used to control the movement of the rehabilitation robot.Finally,a mathematical functional relationship between the resultant force and the robot's movement speed is established to more precisely regulate the robot's movement process.Experimental results show that the six-dimensional force sensor can accurately identify the patient's movement intention,receive changes in the patient's applied force in real time and perform corresponding movements,achieving the expected goal.
作者 刘环宇 王钰 陈明祥 高孟扬 田启磊 LIU Huanyu;WANG Yu;CHEN Mingxiang;GAO Mengyang;TIAN Qilei(College of Mechanical and Electrical Engineering,Qingdao University,Qingdao 266071,China)
出处 《青岛大学学报(工程技术版)》 CAS 2023年第4期76-82,共7页 Journal of Qingdao University(Engineering & Technology Edition)
基金 山东省科技发展计划资助项目(40214010075)。
关键词 六维力传感器 运动意图 数据分析 控制算法 six-axis force sensor movement intention data analysis control algorithms
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