引用本文:赵晓东,刘作军,苟斌,等.下肢假肢斜坡路况运动控制策略分析[J].控制与决策,2019,34(6):1160-1168
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下肢假肢斜坡路况运动控制策略分析
赵晓东1, 刘作军1,2, 苟斌3, 杨鹏1,2
(1. 河北工业大学人工智能与数据科学学院,天津300130;2. 智能康复装置与检测技术教育部工程研究中心,天津300130;3. 西北工业大学自动化学院,西安710129)
摘要:
为使下肢假肢在斜坡路况下配合人体健肢侧交互运动,在对下肢假肢穿戴者斜坡运动模式分析的基础上,制定针对斜坡路况的下肢运动轨迹规划方法,得到假肢膝关节的模拟运动轨迹.应用紧格式线性化方法解决下肢关节高度非线性问题的思路,采取无模型动态矩阵控制方法实现对模拟运动轨迹的追踪,结合反馈校正和滚动优化实现斜坡路况下膝关节角度的预测输出,并对控制系统的稳定性进行理论分析.仿真和运动控制平台的实验结果表明,假肢膝关节的斜坡运动轨迹可以紧紧跟随参考轨迹变化,假肢膝关节可与健肢侧协调平稳运动.
关键词:  假肢  斜坡路况  运动轨迹  紧格式线性化  无模型动态矩阵
DOI:10.13195/j.kzyjc.2017.1252
分类号:TP391
基金项目:国家自然科学基金项目(61703135, 61773151);河北省青年自然科学基金项目(F2016202327);河北省高等学校技术研究项目(ZC2016020).
Analysis of slope motion control strategy of lower limb prostheses
ZHAO Xiao-dong1,LIU Zuo-jun1,2,GOU Bin3,YANG Peng1,2
(1. School of Artificial Intelligence,Hebei University of Technology,Tianjin300130,China;2. Engineering Research Center of Intelligent Rehabilitation of Ministry of Education,Tianjin300130,China;3. School of Automation, Northwestern Polytechnical University,Xián710129,China)
Abstract:
In order to make the lower limb prosthesis to interact with the human body on the slope terrain, the trajectory planning method of the slope terrain for lower limb is developed based on the analysis of slope movement pattern for wearers of lower limb prosthesis, and the simulated motion trajectory of the prosthetic knee joint is obtained. The idea of linearization of tight format is used to solve the nonlinear problem of the lower limb joint, a model free dynamic matrix control method is applied to track the simulated motion trajectory. The methods of feedback correction and rolling optimization are used to realize the predictive output of lower limb prosthetic knee joint angle, and the stability of the control system is analyzed. The feasibility of this approach is verified via simulation and motion control experiments. The results show that the sloping motion trajectory of the prosthetic knee joint closely follows the referenced trajectory, and the prosthetic knee joint and the healthy limb could coordinate smoothly.
Key words:  prosthesis  slope terrain  motion trajectory  linearization of tight format  model free dynamic matrix

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