摘要：Aiming at promptly and accurately detecting falls and drag-to gaits induced by asynchronous human-robot movement speed during assisted walking, a noncontact interactive approach with generality, compliance and safety is proposed in this paper, and is applied to a wheeled walking aid robot. Firstly, the structure and the functions of the wheeled walking aid robot, including gait rehabilitation robot (GRR) and walking aid robot (WAR) are illustrated, and the characteristic futures of falls and the drag-to gait are shown by experiments. To obtain gait information, a multichannel proximity sensor array is developed, and a two-dimensional gait information detection system is established by combining four proximity sensors groups which are installed in the robot chassis. Additionally, a node-iterative fuzzy Petri net algorithm for abnormal gait recognition is proposed by generating the network trigger mechanism using the fuzzy membership function. It integrates the walking intention direction vector by taking gait deviation, frequency, and torso angle as input parameters of the system. Finally, to improve the compliance of the robot during human-robot interaction, a PID_SC controller is designed by integrating the gait speed compensation, which enables the WAR to track human gait closely. Abnormal gait recognition and assisted walking experiments are carried out respectively. Experimental results show that the proposed algorithm can accurately identify abnormal gaits of different groups of users with different walking habits, and the recognition rate of abnormal gait reaches 91.2%. Results also show that the developed method can guarantee safety in human robot interaction because of user gate follow-up accuracy and compliant movements. The noncontact interactive approach can be applied to robots with similar structure for usage in walking assistance and gait rehabilitation.
