PhaseSync-Exo：基于人体时钟锚定的参考自适应动态步态跟踪

中文摘要 AI 辅助

人体感知的外骨骼行走需要重建步态，在动态约束下跟踪多样化的运动，并保持人体时序。我们提出了PhaseSync-Exo，它结合了双IMU CNN-Transformer重建、分解的幅度-步频重定向与课程训练的循环控制，以及一个基于人体时钟锚定的适配器（HCA）。HCA结合了人体时钟吸引与机器人相对反馈，在保持前进推进和连续性的同时调整参考速率。重建模块在留出记录上实现了3.24度的平均绝对误差（MAE），冻结的跟踪策略完成了357次幅度-频率试验中的356次。两个互补的动态比较在不重新训练的情况下隔离了HCA的时序益处。与机器人相对校正相比，HCA将人体时钟相位MAE从95.55度降低到10.99度，限制了参考漂移。当人体和传递相位初始不同时，与固定时钟延续相比，HCA将相位MAE从72.02度降低到13.90度。与即时相位重置相比，HCA在不产生参考跳变的情况下，将瞬态参考跟踪髋部RMSE降低了22.7%。所有420次时序滚动试验均无跌倒完成。这些仿真结果支持连续相位获取和对独立人体时钟的持续对齐。

英文摘要

Human-aware exoskeleton walking requires reconstructing gait, tracking diverse motions under dynamic constraints, and preserving human timing. We present PhaseSync-Exo, which combines two-IMU CNN-Transformer reconstruction, factorized amplitude-cadence retargeting with curriculum-trained recurrent control, and a human-clock-anchored adapter (HCA). HCA combines human-clock attraction with robot-relative feedback to adjust reference rate while preserving forward progression and continuity. The reconstruction module achieves a mean absolute error (MAE) of 3.24 degrees on a held-out recording, and the frozen tracking policy completes 356 of 357 amplitude-frequency trials. Two complementary dynamic comparisons isolate HCA's timing benefit without retraining. Against robot-relative correction, HCA reduces human-clock phase MAE from 95.55 degrees to 10.99 degrees, limiting reference drift. When human and delivered phases initially differ, it reduces phase MAE from 72.02 degrees to 13.90 degrees versus fixed-clock continuation. Compared with immediate phase reset, HCA reduces transient reference-tracking hip RMSE by 22.7% without reference jumps. All 420 timing rollouts complete without falls. These simulation results support continuous phase acquisition and sustained alignment to an independent human clock.

发表机构

• Tsinghua University（清华大学）

机构由 AI 辅助整理，请以论文原文为准。