Abstract
Measurement system of exoskeleton robots can reflect the state of the patient. In this study, we combined an inertial measurement unit and a visual measurement unit to obtain a repeatable fusion measurement system to compensate for the deficiencies of the single data acquisition mode used by exoskeletons. Inertial measurement unit is comprised four distributed angle sensors. Triaxial acceleration and angular velocity information were transmitted to an upper computer by Bluetooth. The data sent to the control center were processed by a Kalman filter to eliminate any noise. Visual measurement unit uses camera to acquire real time images and related data information. The two data acquisition methods were fused and have its weight. Comparisons of the fusion results with individual measurement results demonstrated that the data fusion method could effectively improve the accuracy of system. It provides a set of accurate real-time measurements for patients in rehabilitation exoskeleton and data support for effective control of exoskeleton robot.
Highlights
Rehabilitation exoskeletons robot are emerging as important components of the rehabilitation training process for patients affected by hemiplegia and cerebral apoplexy [1,2]
We found that this measurement system for patients in a rehabilitation exoskeleton robot is effective
The measurement system can provide accurate real-time input for the feedback control of exoskeleton and we have verified it in our experiment
Summary
Rehabilitation exoskeletons robot are emerging as important components of the rehabilitation training process for patients affected by hemiplegia and cerebral apoplexy [1,2]. The rehabilitation training system comprises a lower extremity exoskeleton, where the robotics are employed for sensing, control, information fusion and mobile computing [3,4,5,6]. Accurate data from measurement systems can be provided to the feedback control of exoskeleton system. By combining human intelligence with the physical exoskeleton, the robotic system can complete tasks via a man-machine interaction. The methods used in measurement systems for obtaining lower limb gesture is of great significance. Worldwide famous exoskeleton robots have been equipped with related measurement system
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