中文摘要：

可穿戴助力机器人是一种能够根据传感器获得的力信号和位置信号进行自主控制的装置,其助力效果与传感器信号的响应频率密切相关。为了改善机器人助力效果,提出了一种提高传感器信号响应频率的算法。该算法首先利用MWQAR预测修正算法获得预测信号,然后利用三样条插值法,在真实信号与预测信号之间插入补偿信号。该算法在保证系统实时性的前提下,能够成倍地提高传感器信号的响应频率。对信号进行倍频实验,结果表明该算法是可行且有效的。

英文摘要：

The Wearable Power Assist Robot is an autonomous device,which can drive itself according to the force information and the angle information from the sensors,and whose assist effect is closely related to the frequency of the sensor signal.In order to improve the assist effect,we propose an algorithm to multiply the response frequency of the sensor signal.The algorithm firstly gets the predictive signal by using the modified MWQAR predicting algorithm,and then uses cubic spline interpolation method to interpolate the compensation signal between the real signal and the predictive signal.In addition,the algorithm can meet the requirement of the real-time while exponentially improving the sensor signal ＇ s response frequency.Finally,some correlative experiments have been conducted and the results verify the feasibility and effectiveness of the proposed algorithm.