智能助行器防跌倒柔顺控制研究

doi:10.16180/j.cnki.issn1007-7820.2023.02.007

摘要/Abstract

摘要：

当用户使用助行器过程中有跌倒趋势时,需要使人体能快速恢复正常的站立体态并缓冲助行器紧急制动的惯性力。但是大部分柔顺控制运用机械臂模型较多,运用于助行器模型的防跌倒控制策略较为欠缺。针对此问题,文中提出了一种基于自适应滑模阻抗控制的新型防跌倒柔顺控制策略,并将其用于助行器模型,通过阵列式薄膜压力传感器与超声波传感器融合来达到提升助行器性能的目的。该策略能提高助行器的轨迹跟踪效果,实现对用户的安全防护。两种不同运行情况下的仿真和两种不同地形的模拟实验结果表明,人体可在4 s左右恢复正立,证明该策略能实现助行器运动的柔顺性。

关键词: 智能助行器, 滑模控制, 阻抗控制, 柔顺控制, 多传感器控制, 自适应, 动力学模型, 防跌倒

Abstract:

When users tend to fall down during the process of using walking-aids, it is necessary to quickly restore the human body to a normal standing posture and buffer the inertial force of the emergency braking of walking-aids. However, the compliance control is widely used in the mechanical arms, and the anti-fall control strategy applied to the walker model is relatively insufficient. To solve this problem, a new falling prevention compliance control strategy based on adaptive sliding mode impedance control is proposed and used in the walking-aids model to improve the performance of the walker through the fusion of array film pressure sensors and ultrasonic sensors. This strategy can improve the trajectory tracking effect of the walker and realize the safety protection for the users. The simulation results of two different operating conditions and two different terrain simulation experiments show that the human body can recover to stand upright in about 4 s, which proves that the strategy can achieve the motion flexibility of the walker.

Key words: smart walking-aids, sliding mode control, impedance control, compliance control, multi-sensor control, adaptive, dynamical model, fall prevention

中图分类号:

TP273

张钰文,王亚刚,丁大民,林衍照. 智能助行器防跌倒柔顺控制研究[J]. 电子科技, 2023, 36(2): 46-52.

ZHANG Yuwen,WANG Yagang,DING Damin,LIN Yanzhao. Study on Compliance Control for Falling Prevention of Smart Walking-Aids[J]. Electronic Science and Technology, 2023, 36(2): 46-52.

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