摘要
背景:传统的下肢假肢行走状态改变时膝关节阻尼不能随之改变,假肢跟随性差,变化范围小。目的:基于有限状态机的智能下肢假肢控制方法,实现假肢侧对健肢侧的实时跟踪和步速跟随。方法:智能下肢假肢采用带固定式气缸阻尼器的四连杆机构,采用有限状态机的控制方法,感知当前的步态事件,触发步态状态的转变,调整对应的步态模式,得到步态规划的输出动作。结果与结论:实验结果表明,智能下肢假肢能够进行步速识别和步态识别,控制器输出不同的控制策略,控制步进电机调整膝关节阻尼的大小,假肢侧能够对健肢侧进行实时跟踪和步速跟随。
BACKGROUND： The knee damping of traditional lower limb prosthesis cannot be changed when the walking state is changing. Traditional prosthesis with limited operating range cannot follow the sound leg. OBJECTIVE： To achieve real-time tracking and pace following of limb prosthesis to healthy limb based on the control of intelligent lower limb prosthesis by finite-state machine. METHODS： The intelligent lower limb prosthesis adopted a four-bar linkage with a fixed pneumatic cylinder, and finite-state machine controlling method was in use. It sensed the current gait event, triggered the gait transition state, and adjusted the gait patterns to get the export action of the gait planning. RESULTS AND CONCLUSION： The results showed that the intelligent lower limb prosthesis could identify the gait and the walking speed. Different controlling strategies could be exported from the controller, and it controlled the stepper motor to adjust the size of the knee damping. The prosthetic limb side could track the health limb side on real time and follow the walking speed.
出处
《中国组织工程研究》
CAS
CSCD
2012年第26期4756-4759,共4页
Chinese Journal of Tissue Engineering Research
基金
国家科技支撑计划(2009BAI71B04)
河北省自然科学基金(F2011202155)~~
