基于迭代学习控制的有限状态机在动力型假肢中的应用

发布时间：2018-01-03 06:31

本文关键词：基于迭代学习控制的有限状态机在动力型假肢中的应用　出处：《河北工业大学》2015年硕士论文　论文类型：学位论文

【摘要】：动力型膝上假肢能够很好地跟随健肢侧的运动,并且能够在快速行走、上楼梯、上斜坡等需要膝关节提供大扭矩的运动中为假肢穿戴者提供动力支持,动力型膝上假肢已经成为膝上假肢的主要研究和设计方向,具有重要的理论意义和应用价值。本文主要以动力型膝上假肢的信息采集与特征分析,知识库建立,运动控制三个方面展开。本文主要完成的内容有:首先,动力型假肢运动判定程序和假肢执行器的延迟会带来假肢的运动延误,从而导致双腿的运动不自然,不对称。为了克服这个缺点,本文采集人体运动时髋关节角度、加速度和足底压力信号,并将加速度信号应用在隐马尔科夫模型上进行路况的预识别,同时提取出加速度传感器,足底压力传感器信号的某些关键点来划分步态相位和预识别步速.其次,采用健康人或者残疾人健肢侧的膝关节运动曲线作为期望曲线,通过迭代学习控制,建立起五种路况,三种步速情况下需要调用的控制知识数据库,用于膝关节运动时进行调用。最后,根据动力型膝上假肢行走时,每个步态周期之间的转换关系具有一定的顺序性的特点,提出基于迭代学习控制的有限状态机的方法,根据有限状态机的输出,进行控制知识数据库中控制量的调用,实现动力型假肢的分路况,分步速,分步态相位的控制,大大提高了动力型假肢的安全性和执行速度。
[Abstract]:Dynamic knee prosthesis can well follow the healthy limb movement, and can fast walk up the stairs, on the slope to provide large torque of the knee joint movement for UTFP users to provide power support, dynamic knee prosthesis has become the main research direction and design of knee prosthesis, with the important theoretical significance and application value. This paper mainly based on the information collection and analysis of dynamic characteristics of knee prosthesis, the establishment of knowledge base, the motion control of three aspects. The main content is: first, dynamic process and artificial limb prosthetic movement to determine the actuator delay will bring the prosthetic movement to delay. Lead legs movement is not natural, asymmetry. In order to overcome this drawback, the hip angle acquisition of human motion, acceleration and plantar pressure signal, and the acceleration signal used in hidden Markov models On the pre recognition Road, and extract the acceleration sensor, some key points of signal sensor to divide the pace of plantar pressure gait phase and pre recognition. Secondly, the healthy and disabled healthy limb knee joint motion curve as the desired curve, through iterative learning control, set up five kinds of condition, the three pace under the condition of call control knowledge database, call for knee joint movement. Finally, based on the dynamic type of knee prosthesis when walking, the relationship between characteristics of each gait cycle has certain order, the finite state machine method based on iterative learning control, based on the output of finite state machine, control to control the amount of knowledge in the database calls, the traffic, power type prosthetic step speed, gait phase control, can greatly improve the power and safety of artificial limbs Speed up.

【学位授予单位】：河北工业大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：R496;TP399-C8

【参考文献】