可穿戴式下肢助行机器人摔倒预测及其稳定恢复控制研究

项目名称： 可穿戴式下肢助行机器人摔倒预测及其稳定恢复控制研究

项目编号： No.61305131

项目类型： 青年科学基金项目

立项/批准年度： 2014

项目学科： 自动化技术、计算机技术

项目作者： 彭朝琴

作者单位： 北京航空航天大学

项目金额： 25万元

中文摘要： 可穿戴式下肢助行机器人的稳定恢复性能，对平衡能力较弱的穿戴者的安全性至关重要。本项目拟针对大干扰下的稳定恢复，开展摔倒预测方法、摔倒过程中稳定恢复控制技术研究。结合系统动力学稳定原理研究，明确摔倒过程各阶段稳定性的内涵及定量描述方法；研究摔倒过程特征参数表征方法，开展摔倒模型影响要素分析,研究建立基于时间序列建立摔倒预测模型和模型参数优化方法；深入研究人体摔倒过程中稳定平衡策略的科学根源，提出摔倒初始安全阶段穿戴者主动调整、机器人人被动跟随，摔倒其他阶段机器人主动控制的人机结合的稳定恢复控制策略，通过运动学及动力学分析，研究稳定恢复控制策略的实现方法。通过项目研究，可实现摔倒预测及大干扰下的稳定恢复。研究成果可深化对摔倒过程稳性的认知,丰富稳定性控制方法,可为穿戴式外骨骼下肢助行机器人助老应用，提供更有利的理论依据和方法指导。

中文关键词： 可穿戴式下肢机器人；辅助行走；摔倒预测；稳定性恢复；

英文摘要： The ability of stability recovering from falling trends play very important role on the security of the wearer in the wearable lower limb robot system of walking assist for persons with weak balancing capability. However the existing stable control methods of the wearable robot system mainly focus on recovering from very small disturbance, and seldom deal with the case of stronger disturbance.In order to realize the stability reovering from stronger disturcance,falling prediction method and stability recovering control for strong disturbance will be studied deeply in this project. Firstly, the quantitative description method of the stability for each stage during the falling will be proposed acoording to the analysing result of the dynamic stable of the man-machine system. Then the relation between the falling behavior and the signals from sensors will be analyzed based on principles of statistics, after that the characteristic parameters will be extracted from the signals. Modeling method of falling prediction model based on time series as well as the parameter optimization method for the prediction model will be researched deeply. Lastly, the essence of the balance strategies human adopted will be studied, and then man-machine combination stability control strategies will be proposed, in the initial securi

英文关键词： wearable lower-limb robot；walking assist；falling prediction；stability recovery；