智能助行器防跌倒柔顺控制研究

doi:10.16180/j.cnki.issn1007-7820.2023.02.007

Abstract

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

CLC Number:

TP273

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.

Figures/Tables 13

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Study on Compliance Control for Falling Prevention of Smart Walking-Aids

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