下肢假肢穿戴者跌倒保护控制系统设计

发布时间：2018-06-03 03:35

本文选题：假肢 + 人机共融　；参考：《机器人》2017年04期

【摘要】：从人机共融角度出发设计了假肢跌倒保护控制系统,包括跌倒预警和跌倒保护控制两个方面.首先通过综合分析所采集的人机信息设计跌倒预警系统,完成假肢穿戴者异常步态的有效识别与预警.通过基于健康人有效保护策略的经验知识库方法提取跌倒保护动作经验,制订对应假肢膝关节的跌倒保护策略.以四连杆假肢机构作为被控对象,通过多项式拟合建立运动控制模型,设计基于事件触发的下肢假肢跌倒保护控制系统.以跌倒预警信息作为事件触发条件,以健康人在将要跌倒状况下的膝关节恢复动作作为目标意图,来控制假肢膝关节完成预定转动.实验结果表明,假肢膝关节与人体残肢能在同一自然空间紧密协调,做出正确的保护动作.
[Abstract]:A fall protection control system for artificial limbs is designed from the point of view of man-machine integration, including fall warning and fall protection control. Firstly, a fall warning system is designed by synthetically analyzing the human-computer information collected to effectively identify and warn the abnormal gait of the prosthetic wearer. Based on the experience knowledge base method of effective protection strategy for healthy people, the experience of fall protection is extracted, and the fall protection strategy corresponding to prosthetic knee joint is worked out. The four-link prosthetic mechanism was used as the controlled object, and the motion control model was established by polynomial fitting, and an event-based lower limb fall protection control system was designed. Taking the fall warning information as the trigger condition and the knee joint recovery action of the healthy person under the condition of falling as the target intention, the knee joint of the prosthesis can be controlled to complete the scheduled rotation. The experimental results show that the knee joint of prosthetic limb can coordinate closely with human residual limb in the same natural space and make correct protective action.
【作者单位】：河北工业大学控制科学与工程学院;智能康复装置与检测技术教育部工程研究中心;
【基金】：国家自然科学基金(61174009,61203323)
【分类号】：TP273

【相似文献】