A walking assistive device with intention detection using back-driven pneumatic artificial muscles
A walking assistive device with intention detection using back-driven pneumatic artificial muscles
复制标题
一种利用背部驱动气动人工肌肉进行意图检测的步行辅助装置
DOI：
10.1109/icorr.2015.7281260
复制
发表时间：
2015
期刊：
影响因子：
--
通讯作者：
K. Kawashima
中科院分区：
文献类型：
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作者：
T. Kanno;Daisuke Morisaki;Ryoken Miyazaki;G. Endo;K. Kawashima
本文提出了一种气动行走辅助装置。由于外骨骼的结构与使用者的腿不同，因此不需要将外骨骼链节连接到使用者的膝盖上，也不需要调整链节的长度。采用McKibben式气动人工肌肉作为执行器，实现了后置驱动。我们提出了一种利用与设备本身隔离的气压传感器来检测用户行走意图的控制方法，而不是将传感器连接到用户身上。执行器被预压，然后压力差被监测并用作启动辅助的触发器。实验结果表明，该系统和意图检测方法是有效的。
In this paper, a pneumatically-driven walking assistive device is proposed. Since the structure of the exoskeleton is different from users' legs, it is not required to attach the exoskeleton links to the user's knee and adjust the length of the links. McKibben type pneumatic artificial muscles are adopted as the actuators, realizing back-drivability. We proposed a control method with the detection of the walking intention of the user using air pressure sensors isolated from the device itself, without attaching sensors to the user. The actuators are pre-pressurized and then the difference of the pressure is monitored and used as the trigger to starting the assist. Experimental results show the effectiveness of the proposed system and the intention detection method.