人体直立平衡过程中踝关节的反射和阻抗控制

发布时间：2018-05-11 23:06

  本文选题：力矩控制 + 直立扰动　； 参考：《华中科技大学学报(自然科学版)》2017年10期

【摘要】：为了解决人体直立扰动平衡过程中踝关节力矩的控制问题,提出一种基于肌电信号的肌肉反射模型和基于踝关节角度及角速度信息的比例微分环节反馈力矩控制模型,对人体控制机理做初步阐释.实验者站于测力平台上,受施加于背部的微小冲击,保持膝、髋关节不弯曲,仅通过踝关节转动维持站立稳定.通过惯性测量单元、肌电仪及测力平台获取运动学及动力学信息.采用数据拟合获取模型参数,结果表明模型预测结果与实验测量数据相符.
[Abstract]:In order to solve the problem of ankle torque control in the process of human vertical disturbance balance, a muscle reflection model based on EMG signal and a proportional differential feedback torque control model based on angle and angular velocity information of ankle joint are proposed. The mechanism of human body control is preliminarily explained. The experimenter stood on the force-measuring platform and was subjected to a small impact on the back, keeping the knee and hip unbent and standing steadily only through the rotation of the ankle. The kinematics and dynamics information is obtained by inertial measuring unit, myoelectric instrument and force measuring platform. The model parameters are obtained by data fitting, and the results show that the model prediction results are in agreement with the experimental data.
【作者单位】： 武汉理工大学自动化学院;中国科学院合肥智能机械研究所;
【基金】：国家自然科学基金资助项目(61603284) 武汉理工大学青年教师创新基金资助项目(20410756,20410832)
【分类号】：R318
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本文编号：1876018