轮式助行器使用者推行状态识别研究OA
Research on Ambulation Status Recognition for Wheeled Walker Users
提出了一种基于压力传感器和激光雷达的综合性方法,用于识别电动轮式助行器使用者的推行状态.首先,利用压力传感器获取用户手部在助行器手柄上的施力数据,并通过去噪处理提取有效运动意图;其次,采用激光雷达传感器追踪下肢运动速度,通过最小二乘法拟合腿部运动模式以实现精准位置估计.基于多传感器融合,系统能够识别关键状态(正常行进、转弯与跌倒),并触发自适应控制策略.该方法通过捕捉上肢压力变化与下肢运动轨迹,提升了实时监测的准确性与系统的稳定控制能力;通过预防跌倒和提供可靠辅助,显著提升了老年用户的安全性,同时展现了其在临床康复应用中的潜力.
A comprehensive method based on pressure sensors and LiDAR is proposed to recognize the ambulation states of electric wheeled walker users.Firstly,pressure sensors are used to acquire the hand force data on the handle,which are denoised to extract the valid motion intentions.Then,a LiDAR sensor is adopted to track the lower-limb motion speed,and leg motion patterns are fitted using the least squares method for accurate position estimation.Through multi-sensor fusion,the system identifies critical states,including normal walking,turning,and falling,and activates adaptive control strategies.This method enhances the real-time monitoring accuracy and stable control by capturing the upper-limb pressure changes and lower-limb motion trajectories,and significantly improves the safety for elderly users by preventing falls and enabling reliable assistance,demonstrating potential for clinical rehabilitation applications.
王强;孙志杰;兰陟
国家康复辅具研究中心,北京 100176||北京市老年功能障碍康复辅助技术重点实验室,北京 100176||民政部康复辅具技术与系统重点实验室,北京 100176国家康复辅具研究中心,北京 100176||北京市老年功能障碍康复辅助技术重点实验室,北京 100176||民政部康复辅具技术与系统重点实验室,北京 100176国家康复辅具研究中心,北京 100176||北京市老年功能障碍康复辅助技术重点实验室,北京 100176||民政部康复辅具技术与系统重点实验室,北京 100176
轮式助行器推行状态识别压力传感器激光雷达跌倒检测多传感器融合
wheeled walkerambulation state recognitionpressure sensorLiDARfall detectionmulti-sensor fusion
《机器人》 2026 (2)
271-283,13
国家重点研发计划(2020YFC2007502)中央级公益性科研院所基本科研业务费专项资金(118009001000160001).
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