Design and Voluntary Motion Intention Estimation of a Novel Wearable Full-body Flexible Exoskeleton Robot

	Design and Voluntary Motion Intention Estimation of a Novel Wearable Full-body Flexible Exoskeleton Robot
	Chen, Chunjie; Wu, Xinyu; Liu, Duxin; Feng, Wei; Wang, Can
刊名	Mobile Information Systems
	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
内容类型	期刊论文
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).