摘要
建立了膝上假肢—残端系统的动力学方程，用解逆动力学问题的方法得出实现最佳步态所需的膝关节控制力矩。为实现对膝力矩的控制，研制了应用新型智能材料—电流变液的阻尼器及相应的微型数控高压电源。通过对步行速度的测量可以启动存储于单片机中相应的力矩模式，从而实现跟踪步行速度的膝力矩自动控制。与步速相适应的膝力矩模式是通过使假肢侧学习健侧步态的学习系统获得的。实验表明这种控制方法是有效的。
The dynamic model of stump prosthesis for above knee amputee was established. The solutions of inverse dynamic problem were adopted to obtain the function of knee moments for optimum gait patterns. A damper using electrorheological fluid and its corresponding micro NC power supply have been developed to conduct the control of knee moment. Based on speed measurement during walking, the corresponding moment pattern which has been stored in a micro computer, will start. Therefore, the knee moments can be changed automatically. The knee moment patterns are obtained by using a learning system, which let the gait of prosthetic side similar to the sound side. The effectiveness of the swing phase control has been shown by experiments.
出处
《清华大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
1998年第2期40-43,共4页
Journal of Tsinghua University(Science and Technology)
基金
国家自然科学基金
关键词
智能膝上假肢
摆动期控制
电流变液
intelligent above knee prosthesis
swing phase control
electrorheological fluid
