Limbs synergies based human motion intention estimation algorithm for using cane-type walking-aid robot

摘要

Diverse walking-aid robots and the control systems of them have been investigated a lot. These human motion intention estimation methods vary from detecting the bioelectric signal such as EMG, EEG to the measurements of interaction forces. However, most of them just estimate the movements of single kind of limbs, which can not reflect the walk intention in real very well. In this paper we concluded the intuitive and feasible model of normal walking based on limbs synergies by principal components analysis (PCA) method, and proposed the fusion estimation of the human synergies movements of upper limbs and lower limbs based on using the cane-type walking-aid robot we designed. The effectivenesses are valid through the experiments conducted in reality.