Multi-Channel Fusion Model of Perception System in Lower Extremity Exoskeleton Suits and it’s Implementation

DOI

10.2991/iccsee.2013.210How to use a DOI?

Keywords

Exoskeleton, Human-machine coupling, Multi-channel

Abstract

the human exoskeleton suit is a complex servo system characterized by high degree of human-machine coupling, which means that exoskeleton suit would be able to follow or synchronize with the human body movement. The perception system, which is responsible for sensing the wearer's movement and movement intention, plays a key role in realizing human-machine coupling. How to build a perception system in human exoskeleton suit In the paper, a multi-channel perception model is described, through which the data from multi-channels is gathered, fused, and then wearer’s movement and movement intention are sensed and transmitted to the controller. In order to easily gather the information from various sensors and devices, interface management layer is introduced. Meanwhile, it also can provide the support for redundancy, fault tolerance, and adaptation in dynamic environments. After being gathered, how do the data from heterogeneous sensors be integrated How would the data been interpreted into accurate and comprehensive movement posture In the paper, the three methods, which are time correlation, posture perception and movement prediction, are used to implement the data fusion. Meanwhile, a prototype based on this model was implemented in our human exoskeleton suit. In the paper, the layout of sensors, hardware, software, algorithms, and test of the prototype are explained.

Copyright

© 2013, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Xianggang Zhang
AU  - Caoyuan Zhao
AU  - Qingxia Lin
AU  - Qifang Zhou
PY  - 2013/03
DA  - 2013/03
TI  - Multi-Channel Fusion Model of Perception System in Lower Extremity Exoskeleton Suits and it’s Implementation
BT  - Proceedings of the 2nd International Conference on Computer Science and Electronics Engineering (ICCSEE 2013)
PB  - Atlantis Press
SP  - 834
EP  - 839
SN  - 1951-6851
UR  - https://doi.org/10.2991/iccsee.2013.210
DO  - 10.2991/iccsee.2013.210
ID  - Zhang2013/03
ER  -