自主助行运动导引移动机器人

Project Overview

This project focuses on the development and implementation of an autonomous mobile robot designed to assist and monitor trainees during guided walking exercises. By integrating multiple sensor modalities, the system provides real-time estimation of the trainee’s gait parameters and dynamic margin of stability (MoS).

Key Features

• Sensor Fusion Pipeline: Fuses body tracking data from a Microsoft Azure Kinect RGB-D camera with pressure measurements from wireless instrumented insoles.
• Dynamic Stability Estimation: Estimates the dynamic margin of stability in real-time to prevent falls and assess gait performance.
• Real-Time Control: Designed dynamic path planning and control algorithms to ensure the mobile robot safely maintains optimal proximity to the trainee.
• Open Source Contributions: Improved timestamp accuracy and reduced body tracking latency by 70% in the Microsoft Azure Kinect ROS Driver.

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项目概览

该项目专注于开发和实现一款自主移动机器人，用于在导引步行运动期间协助和监视受训者。通过集成多种传感器模态，该系统可实时估计受训者的步态参数和动态稳定裕度 (MoS)。

核心特色

• 传感器融合管线： 融合了来自微软 Azure Kinect RGB-D 相机的身体跟踪数据与来自无线压力感应鞋垫的压力测量值。
• 动态稳定性估计： 实时估计动态稳定裕度，以预防跌倒并评估步态表现。
• 实时控制： 设计了动态路径规划与控制算法，确保移动机器人安全地与受训者保持最佳距离。
• 开源贡献： 改进了微软 Azure Kinect ROS 驱动仓库的时间戳精度，并将身体跟踪延迟降低了 70%。