CN109910024A - It is a kind of to embrace human posture's identifying system that formula shifting multiplies nursing robot towards back - Google Patents
It is a kind of to embrace human posture's identifying system that formula shifting multiplies nursing robot towards back Download PDFInfo
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Abstract
The present invention is a kind of human posture's identifying system moved towards back armful formula and multiply nursing robot, the system acquires pressure distribution and the change information of each subregion generated when human-computer interaction by being placed in the gasbag-type array of pressure sensors of nursing robot and user's contact portion in real time, man-machine mechanics, which is established, in robot host computer simultaneously resolves model, collected pressure information is calculated into the real-time body posture of user in conjunction with mechanical model, achievees the purpose that guarantee user's safety and comfort according to adjustment robot pose using body posture information as control.Simple, chainless, accurate data acquisition in the case where low cost may be implemented in the present invention, and carries out the comfortable safety that movement adjustment guarantees user according to driving robot using human posture's information as control.
Description
Technical field
The present invention relates to human postures to identify field, and in particular to a kind of that the human body that formula shifting multiplies nursing robot is embraced towards back
Gesture recognition system.
Background technique
China will enter aging society, and problem brought by the aging of population will be increasingly severe, look after
The problem of old man, is changed into social concern from simple family problem, and unbalance population ratio will nurse industry to old man
Huge impact is brought, wherein huge demand will will be generated to nursery work by looking after the daily life of the old man of half disability,
Bigger work load can be brought to nursing staff simultaneously, so the social roboticized cry to nursery work is increasingly
It is high.The generation for multiplying nursing robot is moved by the great requirement for alleviating society to nursing staff, such robot can assist in row
It moves inconvenient the elderly or other is carried out the shifting of daily different location by care-giver in places such as family, hospital and care institutions vibrations
It is dynamic.
Nursing robot during executing movement with by the generation of care-giver's body due to directly contacting, in human-computer interaction
In the process, guarantee by the safety of care-giver and is comfortably vital requirement.It moves at present and multiplies nursing robot due to still belonging to
Emerging direction, the relevant technologies are simultaneously immature, study about the safety control strategy for multiplying nursing robot is moved still in minority.Shifting multiplies shield
The main problem for managing the method for controlling security of robot is: how to guarantee during robot is executed and moved by care-giver
Safety and comfortable.
During human-computer interaction, the comfort level of user and the posture of itself, which have, very closely to be contacted, to protect
The comfort of user user is demonstrate,proved, nursing robot should be able to carry out corresponding movement adjustment according to the posture of user, so that
It is target that human body, which reaches more comfortable posture,.Due to organization of human body complexity, human body cannot be regarded as rigid body roughly merely, otherwise
It will affect the judgement of comfort level.At present mainly have the identification of human posture based on computer vision and is passed based on wearable movement
The method of sensor.Chinese patent 201810402486.X needs to acquire information by camera by the method for computer vision,
It higher cost and influences to generate recognition result vulnerable to external interferences such as light uncertain.Chinese patent
CN201621078680.X process by the way of wearable motion sensor is cumbersome and can generate constraint to user to produce
Raw burden, unsuitable long periods of wear.
Due to the complexity of organization of human body, contact of the human body with nursing robot is simultaneously non-fully bonded, so the appearance of human body
Gesture and the posture of nursing robot are not consistent, and the posture of human body is the judgement whether comfortable important evidence of user, so
According to the distribution situation of the practical pressure of human body to human posture carry out identification be very it is necessary to.Due in human-computer interaction
During, for the comfort for guaranteeing user, nursing robot should be able to carry out corresponding movement according to the posture of user and adjust
It is whole.Therefore it provides a kind of simple, chainless, accurate human posture's identifying system, with the guarantor in human-computer interaction process
Traffic safety and riding comfort, which becomes current those skilled in the art, to be considered the problems of.
Summary of the invention
In view of the deficiencies of the prior art, the technical issues of present invention intends to solve is to provide a kind of move towards back armful formula and multiplies shield
Manage human posture's identifying system of robot.The system is contacted using gasbag-type array of pressure sensors collecting robot person to person's body
Pressure data, Models computed is resolved by man-machine mechanics and obtains human posture, may be implemented in the case where low cost it is simple,
Chainless, accurate data acquisition, and human posture's information is subjected to movement adjustment according to driving robot as control and is guaranteed
The comfortable safety of user.
The purpose of the present invention is conveniently identifying the body posture of user, so that the control for robot provides
With reference to.The present invention is acquired in real time by being placed in nursing robot and the gasbag-type array of pressure sensors of user's contact portion
The pressure of each subregion generated when human-computer interaction is distributed and change information, while establishing man-machine mechanics solution in robot host computer
Model is calculated, collected pressure information is calculated into the real-time body posture of user in conjunction with mechanical model, by body posture
Information achievees the purpose that guarantee user's safety and comfort as control according to adjustment robot pose.
The present invention solve the technical problem the technical solution adopted is that, provide and a kind of embrace formula shifting towards back and multiply nursing machine
Human posture's identifying system of people, the system include gasbag-type array of pressure sensors, plantar pressure sensor and nursing machine
People, the plantar pressure sensor are placed in nursing robot and place on the pedal of human body both feet；The nursing robot is using back
The mode for the formula of embracing will be carried out the movement of position, including robot body, host computer, Robot Motion Controller, machine by care-giver
Device human body includes movable part and back embraces part, and back embraces part and drives mechanical arm and chest backup plate to realize robot by electric cylinder
The position of mechanical arm and chest backup plate angle change will be carried on the back by care-giver takes body in one's arms, and the spatial displacement of chest backup plate is by machine
Tool arm rotates at robot chassis and the rotation of mechanical arm itself realizes that the rotation of chest backup plate is by mechanical arm and chest backup plate
Between electric cylinder realize；
The system uses following steps:
S1. information collection and processing:
The part of nursing robot and human contact be chest backup plate, by human upper limb be divided into upper chest, lower breast, upper abdomen and under
Four parts of abdomen, upper chest, lower breast, upper abdomen and lower abdomen mass center be denoted as A, B, C and D, gasbag-type array of pressure sensors paving respectively
Be located on nursing robot's chest backup plate, gasbag-type array of pressure sensors set there are four work independently sensing unit, each
Sensing unit is corresponding to detect an above-mentioned centroid position pressure；Gasbag-type array of pressure sensors connects nursing robot
Host computer, transferred data in host computer by data collecting card；
S2. building nursing robot's posture and the man-machine mechanics of human upper limb weight distribution resolve model:
Model is resolved by the man-machine mechanics that building nursing robot's posture and human body weight distribute in host computer to obtain
The pressure caused by different parts when user's body and nursing robot contact nursing robot under any attitude, specifically
Steps are as follows:
Using nursing robot's mechanical arm and robot, connecting part, chassis as coordinate origin O, with the above are Y-directions on ground just
Direction, horizontal direction human body direction are X-direction positive direction, establish rectangular coordinate system；Nursing robot's chest backup plate and the side X
To angle be denoted as θm, four part of human upper limb and horizontal sextant angle are respectively θh1、θh2、θh3And θh4, gasbag-type pressure sensor battle array
The pressure value for arranging corresponding four sensing units is respectively F1、F2、F3And F4；Met according to human upper limb posture stress relationship public
Formula (1)-(8):
f1×cos(θh1-θm)+F1×sin(θh1-θm)+F1i+G1×sinθh1=0 (1)
G1+F1i×sinθh1+F1×cosθm+f1×sinθm=0 (2)
f2×cos(θh2-θm)+F2×sin(θh2-θm)+F2i+G2×sinθh2=0 (3)
G2+F2i×sinθh2+F2×cosθm+f2×sinθm=0 (4)
f3×cos(θh3-θm)+F3×sin(θh3-θm)+F3i+G3×sinθh3=0 (5)
G3+F3i×sinθh3+F3×cosθm+f3×sinθm=0 (6)
f4×cos(θh4-θm)+F4×sin(θh4-θm)+F4i+G4×sinθh4=0 (7)
G4+F4i×sinθh4+F4×cosθm+f4×μ×sinθm=0 (8)
Wherein, f1、f2、f3And f4Respectively friction is distinguished in four part of human upper limb, and value f=F × μ, μ are chest
The coefficient of friction of plate material is leaned in portion, then f1=F1×μ、f2=F2×μ、f3=F3×μ、f4=F4×μ；θmBy robot controller
It acquires；G1、G2、G3And G4Respectively gravity suffered by four part of human upper limb, F1i、F2i、F3iAnd F4iRespectively remember upper chest, lower breast,
Internal force suffered by upper abdomen and lower abdomen, human body both legs and both feet account for the 34.5% of human body gross weight, then F1i、F2i、F3iAnd F4iValue pass through public affairs
It acquires formula (9)-(12):
In formula, Fs is plantar pressure；
According to the numerical value change of gasbag-type array of pressure sensors by carrying out simultaneous solution to above-mentioned equation (1)-(12)
It is respectively θ that four part of human upper limb and horizontal sextant angle are obtained in host computerh1、θh2、θh3And θh4, to identify human upper limb appearance
Gesture；
Compared according to human posture's recognition result and pre-set human comfort's posture, using the difference of the two as
Control target is brought into Robot Motion Controller, moves nursing robot and human body attitude is adjusted to rational position.
Compared with prior art, the beneficial effects of the present invention are:
Gasbag-type array of pressure sensors by being placed directly in robot the people by pressure and foundation by the present invention
Machine power resolve model to realize it is unbonded human body attitude is identified, while making further according to the human body attitude that recognizes
For the control foundation of nursing robot, it is adjusted the posture of nursing robot itself, user is finally allowed to maintain comfortably
Posture can more accurately identify human posture, dress without using person, not generate burden to user, and pacify
More hidden convenience is filled, hardware cost can be greatly reduced, be easier to be received by tradesman and user.
Present system uses gasbag-type pressure sensor, and four sensing units are successively arranged side by side up and down, forms 4*1 times
Column form, each sensing unit work independently, and may be implemented the acquisition to pressure distribution situation by distributed arrangement, cost compared with
Low, structure is also relatively simple, more preferable without wearing comfort.
Detailed description of the invention
Fig. 1 is gasbag-type array of pressure sensors；
Fig. 2 is the nursing robot's operation schematic diagram for being equipped with gasbag-type array of pressure sensors；
Fig. 3 is the part mechanical model schematic diagram of the present invention established to human upper limb；
Fig. 4 is the illustraton of model of the present invention solved to human body internal force；
Fig. 5 is present system composition model figure；
In figure, 1, gasbag-type array of pressure sensors；2, chest backup plate；3, data collecting card；4, plantar pressure sensor；
5, host computer；6 Robot Motion Controllers；7 robot chassis；8 mechanical arms.
Specific embodiment
Specific embodiments of the present invention are given below.Specific embodiment is only used for that the present invention will be described in detail, does not limit this Shen
Please patent requirement protection scope.
The present invention is a kind of to embrace human posture's identifying system (abbreviation system) that formula shifting multiplies nursing robot towards back, provides one
The unbonded quick human posture's identifying system of kind, which includes gasbag-type array of pressure sensors 1, plantar pressure sensor
4 multiply nursing robot, the air bag that the gasbag-type array of pressure sensors is generated by air bag when bearing external force and squeezing with shifting
Interior air pressure change information is converted to the size information of pressure, and different positions are independently measured by way of array air bag
The pressure size for setting air bag obtains the information of pressure distribution, and data are transmitted in host computer 5 by data collecting card 3.It is described
Plantar pressure sensor is placed in nursing robot and places on the pedal of human body both feet, and it is big that measurement human body is distributed in the pressure on both feet
It is small.Described move multiplies the movement that nursing robot will be carried out position in such a way that back embraces formula by care-giver, including robot body,
Host computer 5, Robot Motion Controller 6, robot body include movable part and back embrace a part, back embrace part effect be by
It is embraced by the positions such as seat or bedside back onto the seat of robot by care-giver, back embraces part and drives 8 He of mechanical arm by electric cylinder
Chest backup plate realizes that the position of robot arm and chest backup plate angle change will take body in one's arms by care-giver's back, chest backup plate
Spatial displacement is rotated by mechanical arm around robot chassis 7 and the rotation of mechanical arm itself is realized, chest backup plate turns
The dynamic electric cylinder by between mechanical arm and chest backup plate is realized.
The system uses following steps:
S1. information collection and processing:
It is chest backup plate that shifting, which multiplies nursing robot and the part of human contact, is mainly generated by human upper limb and chest backup plate
Human upper limb is divided into four upper chest, lower breast, upper abdomen and lower abdomen parts by pressure, upper chest, lower breast, upper abdomen and lower abdomen mass center point
It is not denoted as A, B, C and D, gasbag-type array of pressure sensors is laid on shifting and multiplies on nursing robot's chest backup plate, gasbag-type pressure
Sensor array is set there are four the sensing unit to work independently, and each sensing unit is corresponding to detect an above-mentioned centroid position institute
By pressure；The connection of gasbag-type array of pressure sensors moves the host computer for multiplying nursing robot, is passed data by data collecting card
It is sent in host computer；
S2. building nursing robot's posture and the man-machine mechanics of human upper limb weight distribution resolve model:
Model is resolved by the man-machine mechanics that building nursing robot's posture and human body weight distribute in host computer to obtain
Multiply pressure caused by different parts when nursing robot user's body and nursing robot under any attitude contact in shifting,
Specific step is as follows:
Multiply nursing robot's mechanical arm and robot, connecting part, chassis as coordinate origin O to move, the above are the sides Y with ground
To positive direction, horizontal direction human body direction is X-direction positive direction, establishes rectangular coordinate system；Nursing robot's chest backup plate
θ is denoted as with the angle of X-directionm, four part of human upper limb and horizontal sextant angle are respectively θh1、θh2、θh3And θh4, gasbag-type pressure biography
The pressure value of corresponding four sensing units of sensor array is respectively F1、F2、F3And F4；According to human upper limb posture stress relationship
Meet formula (1)-(8):
f1×cos(θh1-θm)+F1×sin(θh1-θm)+F1i+G1×sinθh1=0 (1)
G1+F1i×sinθh1+F1×cosθm+f1×sinθm=0 (2)
f2×cos(θh2-θm)+F2×sin(θh2-θm)+F2i+G2×sinθh2=0 (3)
G2+F2i×sinθh2+F2×cosθm+f2×sinθm=0 (4)
f3×cos(θh3-θm)+F3×sin(θh3-θm)+F3i+G3×sinθh3=0 (5)
G3+F3i×sinθh3+F3×cosθm+f3×sinθm=0 (6)
f4×cos(θh4-θm)+F4×sin(θh4-θm)+F4i+G4×sinθh4=0 (7)
G4+F4i×sinθh4+F4×cosθm+f4×μ×sinθm=0 (8)
Wherein, f1, f2, f3 and f4 are respectively four part of human upper limb difference friction, and value f=F × μ, μ are chest
The coefficient of friction of plate material is leaned in portion, then f1=F1×μ、f2=F2×μ、f3=F3×μ、f4=F4×μ；θmBy robot controller
It acquires；G1、G2、G3And G4Respectively gravity suffered by four part of human upper limb, if human body gross weight is G, according to human anatomy number
According to trunk weight is the 47% of human body gross weight, then G1, G2, G3 and G4 substantially trunk quartering are
0.1175G；Due to the complexity of organization of human body, partes corporis humani point is interior suffered by chest, lower breast, upper abdomen and lower abdomen in note there are internal force
Power is respectively F1i、F2i、F3iAnd F4i, human body both legs and both feet account for the 34.5% of human body gross weight, then F1i、F2i、F3iAnd F4iValue can
It is acquired by following equations:
In formula, Fs is plantar pressure；According to the numerical value change of gasbag-type array of pressure sensors by above-mentioned equation into
It is respectively θ that row simultaneous solution obtains four part of human upper limb and horizontal sextant angle in host computerh1、θh2、θh3And θh4, to identify
Human upper limb posture；
S3. the kinematics model of nursing robot's posture and each joint angles of human body lower limbs is constructed:
Note human thigh's length is H1, lower-leg length H2, thigh and horizontal sextant angle are θH1, shank is with horizontal sextant angle
θH2, chest backup plate lower part and the coordinate of the midpoint E of human body crotch coincidence line are denoted as (XE, YE), human foot heel midpoint
Coordinate is denoted as F (XF, YF)；It is protected by building nursing robot's posture and the kinematics model of each joint angles of human body lower limbs
Manage the angle in robot each joint of user's lower limb under any attitude.
S4. each joint angles of human body lower limbs are extrapolated according to nursing robot's posture.
The body data of user is measured, bringing human thigh's length into is H1, lower-leg length H2, then under human body
Limb posture meets the following conditions:
In formula, the coordinate (X of the midpoint E of chest backup plate lower part and human body crotch coincidence lineE, YE) nursing robot can be passed through
Data progress forward kinematics solution obtains in motion controller, the coordinate points F (X at human foot heel midpointF, YF) it is preset value,
By being solved formula (13) and formula (14) to obtain human body lower limbs joint angles, i.e. thigh and horizontal sextant angle is θH1, shank with
Horizontal sextant angle is θH2；
Through the above steps, the major joint angle of human posture can be resolved and be acquired, final to realize human posture's identification.
And it is compared according to human posture's recognition result and pre-set human comfort's posture, using the difference of the two as control
Target, which is brought into, gives nursing robot's controller, moves nursing robot and human body attitude is adjusted to rational position.
Robot Motion Controller is PMAC motion controller, and pre-set human comfort's posture is many experiments early period
Statistics obtains.
In conjunction with Fig. 2, the present embodiment gasbag-type array of pressure sensors is placed on nursing robot's chest backup plate, due to people
Body structural complexity, human upper limb each section are not bonded completely with chest backup plate, but respectively at an angle with level, when
When user's upper limb and nursing robot's chest backup plate contact, is generated with gasbag-type array of pressure sensors and squeeze to make air bag
Air pressure change information is transmitted in host computer by interior pressure change, sensor, and host computer is by being calculated human body and robot
Pressure information is then brought into the man-machine mechanics established in host computer and resolves model, i.e., by contact pressure size and distributed intelligence
In the equation established in step S2, to solve partes corporis humani point angle with horizontal plane to reach and be identified to human posture
Effect.It, can be according to appearance of the human posture to robot for solving identification again by the human comfort standard pre-established
State is adjusted, and is finally reached the purpose for meeting user's safety and comfort.
In conjunction with Fig. 5, present system acquires human pressure by gasbag-type array of pressure sensors and plantar pressure sensor
Signal, wherein gasbag-type array of pressure sensors, which is mounted on nursing robot's chest backup plate, acquires user's upper limb and robot
Contact pressure, plantar pressure sensor, which is mounted on the pedal of nursing robot bottom, acquires human foot receiving pressure, two biographies
Sensor will collect pressure signal and be sent in host computer, by the man-machine mechanics that pre-establishes resolve model to human posture into
Row identification is modified tune to the posture of robot and track finally by comparison current human's posture and the comfortable posture of standard
It is whole.
Present invention is generally directed to back embrace formula shifting multiply nursing robot, the service goal of such robot is handicapped
By care-giver, when robot by caregiver with being contacted, the athletic performance process of robot guarantees by the safety of care-giver
Property is most important with comfort.And to by care-giver for, influence of the posture of itself to comfort level is maximum, nursing robot
It needs to be adjusted according to the posture of human body, be maintained to more comfortable posture by care-giver as target using adjustment, this is just needed
Identifying to human posture for efficient quick is capable of in robot.The present invention acquires machine using gasbag-type array of pressure sensors
The pressure size and distributed intelligence of person to person's body contact resolve model according to established man-machine mechanics and know to human posture
Not, (refer to the controller of control motor in conjunction with robot kinematics model and Robot Motion Controller, can control motor and turn
Move and read motor current location) data can more accurately identify human posture, it can preferably meet robot root
The requirement being adjusted according to human posture, simple installation, cost is relatively low, environment interference is strong and chainless to human body.
The present invention does not address place and is suitable for the prior art.
Claims (2)
1. a kind of embrace human posture's identifying system that formula shifting multiplies nursing robot towards back, which includes gasbag-type pressure sensing
Device array, plantar pressure sensor and nursing robot, the plantar pressure sensor are placed in nursing robot and place human body pair
On the pedal of foot；The nursing robot will be carried out the movement of position, including robot in such a way that back embraces formula by care-giver
Ontology, host computer, Robot Motion Controller, robot body includes movable part and back embraces part, and back embraces part by electronic
Cylinder drives mechanical arm and chest backup plate to realize that the position of robot arm and chest backup plate angle change will be carried on the back by care-giver and embraces
It stands up, the spatial displacement of chest backup plate is rotated by mechanical arm around robot chassis and the rotation of mechanical arm itself is real
Existing, the rotation of chest backup plate is realized by the electric cylinder between mechanical arm and chest backup plate；
The system uses following steps:
S1. information collection and processing:
The part of nursing robot and human contact are chest backup plate, and human upper limb is divided into upper chest, lower breast, upper abdomen and lower abdomen four
A part, upper chest, lower breast, upper abdomen and lower abdomen mass center be denoted as A, B, C and D respectively, gasbag-type array of pressure sensors is laid on
On nursing robot's chest backup plate, gasbag-type array of pressure sensors set there are four work independently sensing unit, each sensing
Unit is corresponding to detect an above-mentioned centroid position pressure；Gasbag-type array of pressure sensors connects the upper of nursing robot
Position machine, is transferred data in host computer by data collecting card；
S2. building nursing robot's posture and the man-machine mechanics of human upper limb weight distribution resolve model:
Model is resolved by the man-machine mechanics that building nursing robot's posture and human body weight distribute in host computer to obtain protecting
Manage pressure caused by different parts, specific steps when robot user's body and nursing robot under any attitude contact
It is as follows:
Using nursing robot's mechanical arm and robot, connecting part, chassis as coordinate origin O, with ground, the above are Y-direction pros
To horizontal direction human body direction is X-direction positive direction, establishes rectangular coordinate system；Nursing robot's chest backup plate and X-direction
Angle be denoted as θm, four part of human upper limb and horizontal sextant angle are respectively θh1、θh2、θh3And θh4, gasbag-type array of pressure sensors
The pressure value of corresponding four sensing units is respectively F1、F2、F3And F4；Meet formula according to human upper limb posture stress relationship
(1)-(8):
f1×cos(θh1-θm)+F1×sin(θh1-θm)+F1i+G1×sinθh1=0 (1)
G1+F1i×sinθh1+F1×cosθm+f1×sinθm=0 (2)
f2×cos(θh2-θm)+F2×sin(θh2-θm)+F2i+G2×sinθh2=0 (3)
G2+F2i×sinθh2+F2×cosθm+f2×sinθm=0 (4)
f3×cos(θh3-θm)+F3×sin(θh3-θm)+F3i+G3×sinθh3=0 (5)
G3+F3i×sinθh3+F3×cosθm+f3×sinθm=0 (6)
f4×cos(θh4-θm)+F4×sin(θh4-θm)+F4i+G4×sinθh4=0 (7)
G4+F4i×sinθh4+F4×cosθm+f4×μ×sinθm=0 (8)
Wherein, f1、f2、f3And f4Respectively friction is distinguished in four part of human upper limb, and value f=F × μ, μ are chest backup plate
The coefficient of friction of material, then f1=F1×μ、f2=F2×μ、f3=F3×μ、f4=F4×μ；θmIt is acquired by robot controller；
G1、G2、G3And G4Respectively gravity suffered by four part of human upper limb, F1i、F2i、F3iAnd F4iRespectively remember upper chest, lower breast, upper abdomen and
Internal force suffered by lower abdomen, human body both legs and both feet account for the 34.5% of human body gross weight, then F1iF2i、F3iAnd F4iValue pass through formula (9)-
(12) it acquires:
In formula, Fs is plantar pressure；
According to the numerical value change of gasbag-type array of pressure sensors by carrying out simultaneous solution upper to above-mentioned equation (1)-(12)
Obtaining four part of human upper limb and horizontal sextant angle in the machine of position is respectively θh1、θh2、θh3And θh4, to identify human upper limb posture；
It is compared according to human posture's recognition result and pre-set human comfort's posture, using the difference of the two as control
Target is brought into Robot Motion Controller, moves nursing robot and human body attitude is adjusted to rational position.
2. according to claim 1 embrace human posture's identifying system that formula shifting multiplies nursing robot towards back, feature exists
In after upper limb gesture recognition, progress lower limb gesture recognition, detailed process is:
Note human thigh's length is H1, lower-leg length H2, thigh and horizontal sextant angle are θH1, shank and horizontal sextant angle are θH2, chest
The coordinate of the midpoint E of portion backup plate lower part and human body crotch coincidence line is denoted as (XE, YE), the coordinate note at human foot heel midpoint
For F (XF, YF)；
The body data of user is measured, bringing human thigh's length into is H1, lower-leg length H2, then human body lower limbs appearance
Gesture meets formula (13) and (14):
In formula, the coordinate (X of the midpoint E of chest backup plate lower part and human body crotch coincidence lineE, YE) motion planning and robot control can be passed through
Data progress forward kinematics solution obtains in device, the coordinate points F (X at human foot heel midpointF, YF) it is preset value, by by formula
(13) it is solved to obtain human body lower limbs joint angles with formula (14), i.e. thigh and horizontal sextant angle is θH1, shank and horizontal sextant angle
For θH2；
Through the above steps, the major joint angle of human posture can be resolved and be acquired, final to realize human posture's identification.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910256688.2A CN109910024B (en) | 2019-04-01 | 2019-04-01 | Human body posture recognition system for back-holding type transfer nursing robot |
Applications Claiming Priority (1)
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| CN111564026A (en) * | 2020-03-23 | 2020-08-21 | 广东艾诗凯奇智能科技有限公司 | Posture correction method based on neck massager and neck massager |
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| CN111714324A (en) * | 2020-05-07 | 2020-09-29 | 广西科技大学 | Man-machine interaction force acquisition system |
| CN111993436A (en) * | 2020-08-21 | 2020-11-27 | 山东科亿宏智能科技有限公司 | Full-automatic carrying robot and working method |
| CN117690541A (en) * | 2024-02-01 | 2024-03-12 | 深圳大学总医院 | Nursing recording system |
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| CN111993436A (en) * | 2020-08-21 | 2020-11-27 | 山东科亿宏智能科技有限公司 | Full-automatic carrying robot and working method |
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