[1]王超,方正,余韬,等.基于卡尔曼滤波模型的平地行走步频预测方法[J].哈尔滨工程大学学报,2015,(08):1109-1113.[doi:10.3969/j.issn.1006-7043.201407070]
 WANG Chao,FANG Zheng,YU Tao,et al.Level walking stride frequency forecast based on Kalman filter model[J].hebgcdxxb,2015,(08):1109-1113.[doi:10.3969/j.issn.1006-7043.201407070]
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基于卡尔曼滤波模型的平地行走步频预测方法(/HTML)
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《哈尔滨工程大学学报》[ISSN:1006-6977/CN:61-1281/TN]

卷:
期数:
2015年08期
页码:
1109-1113
栏目:
出版日期:
2015-08-25

文章信息/Info

Title:
Level walking stride frequency forecast based on Kalman filter model
作者:
王超 方正 余韬 邓欣萍 江建烽
厦门大学 物理与机电工程学院, 福建 厦门 361005
Author(s):
WANG Chao FANG Zheng YU Tao DENG Xinping JIANG Jianfeng
School of Physics and Mechanical & Electrical Engineering, University of Xiamen University, Xiamen 361005, China
关键词:
智能下肢步频预测算法足底压力卡尔曼滤波
分类号:
TP273.2
DOI:
10.3969/j.issn.1006-7043.201407070
文献标志码:
A
摘要:
现有智能下肢的控制策略都是以刚完成的一步的步频为调节阻尼的依据,调整好的阻尼只能在下一步摆动期生效,因此该控制策略是滞后的,无法做到实时控制,在步频变化频繁的场合难以适用。本文方法利用足底压力传感获取步频数据,然后通过卡尔曼预测方程由已完成的步频预测即将迈出的下一步步频。在模拟日常生活平地行走步频变化的实验中,所预测的下一步步频与后验值之间偏差比跟随方法的偏差大约减小了10%。该方法实时性好,为改善智能下肢的性能提供了新的可行性方案。

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2014-7-28;改回日期:。
基金项目:国家自然科学基金资助项目(61172046);福建省自然科学基金资助项目(2012J01413);中央高校基本科研业务费专项资金资助项目(XMU.2013121018).
作者简介:王超(1988-),男,硕士研究生;方正(1976-),男,副教授,博士。
通讯作者:方正,E-mail:fangzheng38@163.com.
更新日期/Last Update: 2015-10-19