摘要
为了提高智能携行系统的控制速度和精度,针对人体个体的差异,根据未加入学习控制阶段的人体行走步态判断出穿戴者的步态特征,结合人体行走的生物力学模型,对骨骼服加入时变学习控制,充分利用了人体行走的重复运动特征,设计了迭代学习控制器,仿真结果说明了此方法的有效性。
To improve the control speed and precision,according to the difference of individual walking,the gait feature of human walking is justified before the study control is added to the intelligent carrying system. Combing with the biomechanics model of human walking,the time-varying study control is used in the lower extremity exoskeleton carrying system,utilizing the dynamic repeat characteristics of human walking. The iteration study controller is designed and simulation result shows the valid of the given method.
出处
《仪表技术》
2015年第11期38-39 51,51,共3页
Instrumentation Technology
基金
总装预研基金(9140A26020313JB14370)
关键词
智能携行系统
时变学习控制
重复运动
intelligent carrying system
time-varying study control
repeat movement