摘要
随着智能控制技术、计算机技术、机械制造和传感器技术的快速发生,诞生了一种辅助运动装置即智能假肢,其协调控制能力直接影响了截肢患者的日常生活,目前常见的假肢包括半主动式假肢、被动式假肢和主动式假肢等,但是考虑到准确度、成本以及灵敏性等限制,智能性被动型假肢膝关节是最常见的类型。文章通过对人体行走的步态特征和识别模式进行分析,介绍假肢膝关节和踝关节的结构以及控制气缸的工作原理,建立不同步速状态下的控制策略。同时将手动控制调试系统和上位机调试模式结合起来,以临床模拟的方式验证人类行走步态,实现膝踝的协调控制。
The intelligent prosthesis is a kind of auxiliary motion device which has developed with the development of intelligent control technology,sensor technology,machinery manufacturing and computer technology.Coordinated control has a direct impact on the daily life of amputees,the current common prosthesis,including semi-active prostheses,passive prostheses and active prostheses,but taking into account the accuracy,cost and sensitivity restrictions,intelligent passive prosthetic knee is the most common type.Based on the analysis of gait characteristics and recognition modes of human walking,the structure of artificial limb,knee joint and ankle joint,and the principle of controlling air cylinder are introduced,and the control strategy under the condition of asynchronous speed is established.At the same time,the manual control debugging system and the host computer debugging mode are combined to validate the gait of human gait in clinical simulation and realize the coordinated control of knee and ankle.
出处
《太原学院学报（自然科学版）》
2017年第3期22-26,共5页
Journal of TaiYuan University:Natural Science Edition
基金
福建省中青年教师教育科研项目(JA15455)
莆田学院校内科研项目(2014018)
关键词
智能假肢
步态识别
膝踝协调控制
intelligent prosthesis
gait recognition
knee ankle coordination
