关键词: 外骨骼, 体感交互, 平滑处理, 实时控制

Abstract: A new method was proposed on controlling exoskeletal robot by using Kinect sensor in order to make the movement of exoskeletal robot more conforms to human motion.With vector constructed by skeletal data,the angle for somatosensory control was acquired through dividing and calculating the space angles of upper limb joint according to the coordinate system of human body.Kalman filter was used to smooth the angles and the result showed that Kalman filter can better improve the stability and real time property of data.The maximum of angular velocity and the ranges of angles were set up for security.Lastly,the processed data was passed to the exoskeletal robot model which was built up based on LabVIEW for real-time control.According to the effect of real-time control,the data processing method was accurate and reliable that provides reliable references for the development of the physical prototype.

Key words: exoskeletal, somatosensory interaction, smooth processing, real-time control