摘要
设计了一套智能穿戴系统,主要依靠惯性传感单元对人体手臂的姿态进行检测,从而控制机械臂能够同步做出人体手臂的动作,旨在帮助手臂残障的人士能如同正常人一般的生活。整个可穿戴式系统的设计以STMicroelectronics公司的微控制器作为核心,使用三轴加速度计和三轴陀螺仪对手臂的运动姿态进行检测,通过驱动六路数字舵机来实现机械臂与人体手臂动作的同步。在姿态融合部分,运用了基于TensorFlow的椭球面拟合方法对加速度计进行了校准,并且采用了基于四元数-梯度下降的方法来进行姿态角的融合计算,使系统能稳定地识别出当前手臂的运动姿态。在实验部分,针对系统搭建了相应的实验平台,对姿态融合模块性能和系统整体性能进行了测试,并对整个系统的实验结果进行总结和分析。
An intelligent wearable system is designed,which mainly relies on the inertial sensing unit to detect the posture of the human arm,so as to control the mechanical arm to make the movement of the human arm synchronously,aiming to help people with arm disabilities live like normal people.The entire wearable system selects STMicroelectronics microcontroller as the core,uses three-axis accelerometer and three-axis gyro to detect the motion posture of the arm,and realizes the synchronization of the mechanical arm and the human arm by driving the six-way digital servo.In the attitude fusion,the accelerometer is calibrated based on TensorFlow ellipsoidal surface fitting method,and the quaternion-gradient descent method is used to perform the fusion calculation of the attitude angle,so that the system can stably identify the current arm athletic pose.In the experimental,the corresponding experimental platform is built and the attitude fusion part and overall performance are tested on it.Finally,the experimental results are summarized.
作者
沈澍
顾康
刘小雨
SHEN Shu;GU Kang;LIU Xiao-yu(School of Computer Science,Nanjing University of Posts and Telecommunications,Nanjing 210023,China;Jiangsu High Technology Research Key Laboratory for Wireless Sensor Networks,Nanjing 210023,China)
出处
《计算机技术与发展》
2019年第7期124-129,共6页
Computer Technology and Development
基金
国家自然科学基金(61401221,61701168,51608437)
中国博士后基金项目(2016M601860)
江苏省研究生科研与实践创新计划项目(SJCX17_0237)
江苏省研究生科研与实践创新计划项目(SJCX19_0240,SJKY19_0823)
南京邮电大学教学改革研究项目(JG00417JX74)
关键词
微控制器
可穿戴设备
惯性检测单元
姿态融合
机械臂
microcontroller
wearable device
inertial measurement unit
attitude fusion
robotic arm
