Human body motion compensation method and system for wearable outer limb robot

The invention relates to the technical field of wearable outer limb robots, in particular to a human body motion compensation method and system for a wearable outer limb robot, which fuses multi-sensing information through Kalman filtering, observes the state of a human-outer limb system in real time to obtain the influence of human body motion on the outer limb robot, and on this basis, the human body motion compensation method and system for the wearable outer limb robot are provided. An outer limb artificial potential field is constructed, the tail end track of the outer limb robot is adjusted in real time, the influence of human body movement on the preset track of the outer limb robot is compensated, and therefore precise operation of the outer limb in the operation process is achieved. Compared with the prior art, the method has the advantages of higher accuracy and stability, low manufacturing cost and high universality. 本发明涉及可穿戴外肢体机器人技术领域，特别提出一种用于可穿戴外肢体机器人的人体运动补偿方法及系统，通过卡尔曼滤波融合多传感信息，实时观测人－外肢体系统状态，得到人体