基于规则进化模糊系统的步行方向意图识别

为了准确识别下肢功能障碍患者自主步行康复训练过程中的方向意图,提出了一种能够兼顾使用者个体差异及安全状态的新型步行方向意图识别方法。首先论述了康复训练机器人结构及患者前臂对机器人支撑板的压力和步行方向意图的关系。为保证患者安全地向任意方向行走,提出根据膝盖旋转角度推理安全步态的先决条件下,基于距离型模糊推理算法设计具有稀疏前件规则库的步行方向意图识别方法;然后为减小因个体差异、非稳定模糊规则引起的识别误差,提出规则进化算法实时优化模糊推理规则库。最后将该算法进行了多方向模糊推理实验与步行康复训练机器人压力控制实验,实验表明该算法可以准确识别下肢功能患者的任意步行方向意图并提高了步行的安全性,提出的步行方向意图识别方法可以应用在下肢功能障碍人士的日常起居与康复训练中。

Fuzzy system based on the rule evolution strategy for directional intention identification of walking

In order to accurately identify the directional intention of lower limb functional disorder patients, a novel walking directional intention identification strategy is proposed considering individual differences and safety. Firstly, the structure of rehabilitation robot and the relationship between the pressure of the forearm and the directional intention are introduced. To ensure the patient to walk safely in any directions, a distance type fuzzy reasoning algorithm with sparse antecedents is adopted under the prerequisite for reasoning about safe gait through rotation angle of knees. Then, to reduce the identification errors caused by individual differences and non stable fuzzy rules, this paper proposes a rule evolutionary strategy, which can update the fuzzy inference rules. Finally, the algorithm is applied to multi objective fuzzy reasoning experiments and pressure control experiments of walking rehabilitation robot, which prove that the algorithm can accurately identify arbitrary directional intention of patients and increase walk safety. This strategy of directional intention identification can be used in the rehabilitation of lower limb dysfunction in daily living and rehabilitation training.