Autonomous Decision-Making for Human-Robot Hybrid System Based on FRF

Abstract:

This paper demonstrates a concept of walking power assist leg (WPAL), which is designed for enhancing strength and endurance during walking. Using D-H method, the kinematics of WPAL is investigated theoretically. The reasonability of fundamental design is verified by the simulation results. To make the system work smoothly and provide power assist for operator, the robot must understand the operators intention. In this paper, the floor reaction force (FRF) information has been used to complete the intention prejudgment of its operators leg movement. The method of prejudgment and FRF information acquisition system are designed. The experimental results also indicate the feasibility of FRF system.

• Periodical: Advanced Materials Research (Volumes 753-755)
• Pages: 2042-2045
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.753-755.2042
• Online since: August 2013
• Authors: Feng Chen, Min Tang, Cong Ma
• Keywords: FRF, Interaction Force, WPAL

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