State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150001, China.
Sensors (Basel). 2020 Oct 15;20(20):5844. doi: 10.3390/s20205844.
Tripping is a common problem that everyone faces when walking. This paper mainly focuses on a lower limb exoskeleton that can help those weak in joints to avoid tripping when negotiating stairs or stepping over obstacles. This method does not need a camera or map reconstruction to recognize the obstacles and plan paths. The exoskeleton applies an impedance controller to follow and control the pilot's movements. A virtual potential field is proposed to help the robot regulate the pilot's motion and avoid kicking the obstacles appearing in front of the pilot's foot during walking. Simulation and experiments show that this method works effectively and could help the elderly and those affected by joint weakness avoid tripping when walking.
绊倒（tripping）是每个人行走时都会面临的常见问题。本文主要关注一种下肢外骨骼，可以帮助关节无力的人在上下楼梯或跨越障碍物时避免绊倒。这种方法不需要使用相机或地图重建来识别障碍物和规划路径。外骨骼采用阻抗控制器来跟随和控制飞行员的动作。提出了一种虚拟势场来帮助机器人调节飞行员的运动，避免在行走过程中踢到飞行员脚部前方出现的障碍物。仿真和实验表明，这种方法行之有效，可以帮助老年人和关节虚弱的人在行走时避免绊倒。
