Design and Voluntary Motion Intention Estimation of a Novel Wearable Full-body Flexible Exoskeleton Robot
文献类型：期刊论文
| 作者 | Chen, Chunjie; Wu, Xinyu; Liu, Duxin; Feng, Wei; Wang, Can |
| 刊名 | Mobile Information Systems
 |
| 出版日期 | 2017 |
| 文献子类 | 期刊论文 |
| 英文摘要 | The wearable full-body exoskeleton robot developed in this study is one application of mobile cyberphysical system (CPS), which is a complex mobile system integrating mechanics, electronics, computer science, and artificial intelligence. Steel wire was used as the flexible transmission medium and a group of special wire-locking structures was designed. Additionally, we designed passive joints for partial joints of the exoskeleton. Finally, we proposed a novel gait phase recognition method for full-body exoskeletons using only joint angular sensors, plantar pressure sensors, and inclination sensors. The method consists of four procedures. Firstly, we classified the three types of main motion patterns: normal walking on the ground, stair-climbing and stair-descending, and sit-to-stand movement. Secondly, we segregated the experimental data into one gait cycle. Thirdly, we divided one gait cycle into eight gait phases. Finally, we built a gait phase recognition model based on -Nearest Neighbor perception and trained it with the phase-labeled gait data. The experimental result shows that the model has a 98.52% average correct rate of classification of the main motion patterns on the testing set and a 95.32% average correct rate of phase recognition on the testing set. So the exoskeleton robot can achieve human motion intention in real time and coordinate its movement with the wearer. |
| URL标识 | 查看原文 |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/11720]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 作者单位 | Mobile Information Systems |
| 推荐引用方式 GB/T 7714 | Chen, Chunjie,Wu, Xinyu,Liu, Duxin,et al. Design and Voluntary Motion Intention Estimation of a Novel Wearable Full-body Flexible Exoskeleton Robot[J]. Mobile Information Systems,2017. |
| APA | Chen, Chunjie,Wu, Xinyu,Liu, Duxin,Feng, Wei,&Wang, Can.(2017).Design and Voluntary Motion Intention Estimation of a Novel Wearable Full-body Flexible Exoskeleton Robot.Mobile Information Systems. |
| MLA | Chen, Chunjie,et al."Design and Voluntary Motion Intention Estimation of a Novel Wearable Full-body Flexible Exoskeleton Robot".Mobile Information Systems (2017). |
入库方式： OAI收割
来源：深圳先进技术研究院
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