人机协同稳定约束的杖式助行机器人跌倒防护控制研究

项目名称： 人机协同稳定约束的杖式助行机器人跌倒防护控制研究

项目编号： No.61473130

项目类型： 面上项目

立项/批准年度： 2015

项目学科： 自动化技术、计算机技术

项目作者： 黄剑

作者单位： 华中科技大学

项目金额： 80万元

中文摘要： 行走时跌倒是我国65岁以上老年人伤害致死的首要原因。杖式助行机器人着眼于按需援助老年人的日常行走与康复训练，它能够有效减少跌倒的发生，是服务于老龄化社会的重要手段，已成为助老助残机器人领域的一个研究热点。保证人的安全是机器人辅助行走的首要任务，老年人行走不稳、同时结构紧凑的杖式助行机器人在受到较大交互力时也可能发生倾覆，如何设计合理的机器人控制保持人-机器人系统的协同稳定是相关研究面临的一个重大挑战。针对杖式助行机器人在使用中易倾覆的特点，同时考虑老年人跌倒防护过程中稳定、柔顺和高实时性需求，从研究的角度本项目意图解决以下关键性的问题：1）人机协同稳定的数学描述、分析方法和检测手段；2）人机协同稳定约束下的机器人有限时间跌倒防护控制；3）稳定柔顺的人-机器人交互的实现。本项目的实施对于促进我国在助老助残机器人的原始创新、推动信息科学与康复医学交叉研究领域的进一步发展具有重要的意义。

中文关键词： 助行机器人；人机协同；跌倒防护控制；人机交互

英文摘要： Fall is a main course of injury death of old people (aged 65 years and over) in China. The cane-type walking-aid robot aims at helping the elderly walk in an assisting-as-needed way, which reduces the occurrence of fall significantly. It is an important measure to solve problems of the coming aged society, and is becoming a research focus in the rehabilitation and assistive robots. Ensuring the safety of user is the key task of a robot-aided walking. The elderly normally suffer from unstable walking. On the other hand, the cane-type walking-aid robot is apt to overturn during walking. Therefore, designing a suitable controller to guarantee the stabilities of both the human user and the robot is a big challenge in the related research. Considering the new features of cane-type walking-aid robot and the performance requirements of fall prevention control, we intent to solve some key problems in the view of research, including: 1) the mathematical models, analysis and detection methods of human-robot coordination stability; 2) the finite-time fall prevention control with coordination stability constraints; 3) the implementation of stable, compliant human-robot interaction. This project is of great significance in improving the initial innovation of rehabilitation and assistive robot research in China. It will also promote the further development of interdisciplinary research between information science and rehabilitation medicine.

英文关键词： Walking-Aid Robot;Human-Robot Coordination;Fall Prevention Control;Human-Robot Interaction