摘要
研究为了帮助解决老年人下肢康复训练的问题,进而设计出一种基于Unity3D的智能老年行走辅助器.该辅助器采用了先进的压力传感器和人体步态三维模型,能够提供精确的控制信息,使得Unity3D系统能够更好地模拟人体行走.同时,引入比例-积分-微分控制方法,使得行走辅助器关节上的控制效果更加精确和稳定,从而提高行走辅助器的性能.在实际测试中,该行走机器人的髋关节和膝关节的误差被严格控制在可接受的范围内.对于髋关节,测试结果显示误差小于1°,这意味着机器人的行走动作非常精准,能够以人类行走的姿态和节奏进行运动.对于膝关节,测试结果显示误差小于3.5°.结果表明,研究提出方法有助于提升老年行走辅助器稳定性,对下肢康复训练具有较好的应用效果.
Abstract
In order to help solve the problem of lower limb rehabilitation training for elderly people,a Unity3D based intelligent elderly walking assistant was designed.The assistive device provides control information for the Unity3D system through pressure sen-sors and a three-dimensional model of human gait,and introduces a proportional integral differential control method to enhance the control effect on the joint of the walking assistive device.In the actual test results,the error of the hip joint during walking is con-trolled within 1°;The error of the knee joint should be controlled within 3.5°.The results indicate that the proposed method can help improve the stability of elderly walking aids and has good application effects on lower limb rehabilitation training.
基金项目
陕西省职业技术教育学会2023年度教育教学改革研究课题(2023SZX035)
维普
万方数据