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.
Aiming at the control mechanism,including muscle-reflex control and impedance control of ankle joint during upright stance balance,an electromyographic（EMG）signal based muscle-reflex control model was proposed to analyze the reflex behavior during the very beginning of push-recovery response.Furthermore,aproportion-differentiation（PD）based torque control model,with ankle joint angle and angular velocity as input,was used to fit the experimental data.During experiments,volunteers stood on a force platform and were pushed forward slightly.Volunteers were asked to try to recover from these disturbances without bending their knee and hip joints.Kinematics and kinetics data were recorded by inertial measurement unit（IMU）,EMG and force platform.Experimental results indicate that the PD model can fit well with the control mechanism of ankle joint during the end of push-recovery response.
出处
《华中科技大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2017年第10期49-53,共5页
Journal of Huazhong University of Science and Technology(Natural Science Edition)
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)
关键词
力矩控制
直立扰动
肌肉反射
阻抗控制
踝关节
electromyographic（EMG）
signal based muscle-reflex control model
reflex behavior
push-recovery response
