摘要
基于人机一体化思想,本文分析了可穿戴式柔性下肢外骨骼系统,分析了外骨骼下肢结构及自由度、外骨骼步态跟踪及稳定性、规划了其运动轨迹,阐述了系统的柔性驱动方式,人机交互智能控制框架及下肢外骨骼系统的控制过程。
Based on the man-machine integration ideology, this paper analyzes the wearable flexible lower extremity exoskeleton system, analyzes the structure and the degree of freedom of the lower limb exoskeleton exoskeleton gait tracking and stability,planning its trajectory, describes the system flexible drive mode, interactive intelligent control framework and lower extremity exoskeleton system control process.
出处
《自动化与仪器仪表》
2015年第12期235-236,共2页
Automation & Instrumentation
关键词
人机一体化
下肢外骨骼系统
智能控制
Humachine
Lower extremity exoskeleton system
Intelligent control
