HUMAN-MACHINE HYBRID COORDINATED MOTION USER INTENTION ESTIMATION METHOD AND SYSTEM

摘要

A human-machine hybrid system coordinated motion user intention estimation method, comprising: using a force sensor module and a laser range finder to obtain real-time motion intention speed VH of the upper limbs of a user and real-time motion intention speed VL of the lower limbs of the user, respectively, and setting a human-machine hybrid system flexibility parameter S, and adjusting the human-machine hybrid system flexibility parameter S using a fuzzy control method; performing heterogeneous sensor fusion on the real-time motion intention speed VH of the upper limbs of the user, the real-time motion intention speed VL of the lower limbs of the user, and the human-machine hybrid system flexibility parameter S to obtain an accurate user motion intention speed VF; and sending the accurate user motion intention speed VF to an assistance robot to realize flexible motion of the assistance robot. According to the method, flexible robot motion control can be realized to the greatest extent, uncoordinated motion of the robot and the user is prevented, and unsafe behaviors of the user are avoided.