基于中枢模式产生器的主动式智能踝关节控制的研究

发布时间：2018-05-27 05:40

本文选题：智能假肢 + 中枢模式产生器学习控制　；参考：《生物医学工程学杂志》2014年06期

【摘要】：为了使主动式踝关节假肢携带者能更好地根据外部环境和步态的变化实现假肢自然行走,设计了主动式智能踝关节假肢的机械结构和控制系统,提出了主动式踝关节假肢运动轨迹的中枢模式产生器(CPG)控制策略。主动式踝关节假肢通过动力机构为人体提供了运动动力,可实现人体运动的主要功能和特性。通过Matlab/simulink仿真,有效验证了基于生物中枢模式产生器控制机制的主动式踝关节的运动控制方法,能够使主动式踝关节假肢的输出轨迹准确快速地跟踪期望轨迹。因此该主动式踝关节假肢能实现及时调节和动作,智能性增强,同时本文提出的该项技术对智能假肢的发展具有重要的实用价值。
[Abstract]:In order to make active ankle prosthesis carriers walk naturally according to the changes of external environment and gait, the mechanical structure and control system of active intelligent ankle prosthesis are designed. A CPG control strategy for active ankle prosthesis motion trajectory is proposed. The active ankle prosthesis provides the movement power for the human body through the power mechanism, and can realize the main function and characteristic of the human body motion. Through the Matlab/simulink simulation, the active ankle motion control method based on the biological central pattern generator control mechanism is effectively verified, and the output trajectory of the active ankle prosthesis can track the desired trajectory accurately and quickly. Therefore, the active ankle prosthesis can realize timely adjustment and movement, and enhance the intelligence. At the same time, the technology proposed in this paper has important practical value for the development of intelligent prosthesis.
【作者单位】：河北工业大学控制科学与工程学院;
【基金】：国家自然科学基金资助项目(61174009,61203323) 国家科技支撑计划资助项目(2009BAI71B04)
【分类号】：R318.17

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