标题:基于足底力预测的时滞助步外骨骼控制

摘要】开发了许多下肢外骨骼来辅助步行。但是,在控制这些外骨骼时,由计算时间引起的时间延迟和通信延迟仍然是一个普遍的问题。在这项研究中,我们提出了一种通过预测未来的足底力量和步行状态来防止步行辅助外骨骼控制时延的新方法。通过使用长短时记忆(LSTM)和完全连接的网络,不仅可以从惯性测量单元(IMU)传感器测得的数据中预测脚底力,不仅可以在周期性行走过程中,而且可以在脚的开始和结束时预测步行。步行状态和期望的辅助时机也可以从预测的足底力中检测到。通过事先发送控制命令并考虑时间延迟,外骨骼可以在所需的辅助时间正好移动。在实验中,确认了足底力的预测误差和辅助时机。还可以通过使用训练好的模型控制外骨骼来评估所提出方法的性能。

Title: Control of Walking Assist Exoskeleton with Time-delay Based on the Prediction of Plantar Force

[abstract]  Many kinds of lower-limb exoskeletons were developed for walking assistance. However, time-delay arised from the computation time and the communication delays is still a general problem when controlling these exoskeletons. In this research, we proposed a novel method to prevent the time-delay when controlling a walking assist exoskeleton by predicting future plantar force and walking status. By using Long Short-term Memory (LSTM) and fully-connected network, the plantar force can be predicted only from the data measured from inertial measurement unit (IMU) sensors, not only during the periodic walking but also when the start and end of walking. The walking status and the desired assisting timing can also be detected from the predicted plantar force. By sending the control command beforehand with considering the time-delay, the exoskeleton can be moved right on the desired assisting timing. In the experiments, the prediction errors of the plantar force and the assisting timing are confirmed. The performance of the proposed method is also evaluated by controlling the exoskeleton using the trained model.

【作者】Ming Ding, Mikihisa Nagashima, Sung-Gwi Cho, Jun Takamatsu, Tsukasa Ogasawara

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