本文關(guān)鍵詞：基于迭代學(xué)習(xí)控制的有限狀態(tài)機在動力型假肢中的應(yīng)用　出處：《河北工業(yè)大學(xué)》2015年碩士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 動力型假肢 迭代學(xué)習(xí)控制 有限狀態(tài)機

【摘要】：動力型膝上假肢能夠很好地跟隨健肢側(cè)的運動,并且能夠在快速行走、上樓梯、上斜坡等需要膝關(guān)節(jié)提供大扭矩的運動中為假肢穿戴者提供動力支持,動力型膝上假肢已經(jīng)成為膝上假肢的主要研究和設(shè)計方向,具有重要的理論意義和應(yīng)用價值。本文主要以動力型膝上假肢的信息采集與特征分析,知識庫建立,運動控制三個方面展開。本文主要完成的內(nèi)容有:首先,動力型假肢運動判定程序和假肢執(zhí)行器的延遲會帶來假肢的運動延誤,從而導(dǎo)致雙腿的運動不自然,不對稱。為了克服這個缺點,本文采集人體運動時髖關(guān)節(jié)角度、加速度和足底壓力信號,并將加速度信號應(yīng)用在隱馬爾科夫模型上進行路況的預(yù)識別,同時提取出加速度傳感器,足底壓力傳感器信號的某些關(guān)鍵點來劃分步態(tài)相位和預(yù)識別步速.其次,采用健康人或者殘疾人健肢側(cè)的膝關(guān)節(jié)運動曲線作為期望曲線,通過迭代學(xué)習(xí)控制,建立起五種路況,三種步速情況下需要調(diào)用的控制知識數(shù)據(jù)庫,用于膝關(guān)節(jié)運動時進行調(diào)用。最后,根據(jù)動力型膝上假肢行走時,每個步態(tài)周期之間的轉(zhuǎn)換關(guān)系具有一定的順序性的特點,提出基于迭代學(xué)習(xí)控制的有限狀態(tài)機的方法,根據(jù)有限狀態(tài)機的輸出,進行控制知識數(shù)據(jù)庫中控制量的調(diào)用,實現(xiàn)動力型假肢的分路況,分步速,分步態(tài)相位的控制,大大提高了動力型假肢的安全性和執(zhí)行速度。
[Abstract]:Dynamic knee prosthesis can well follow the healthy limb movement, and can fast walk up the stairs, on the slope to provide large torque of the knee joint movement for UTFP users to provide power support, dynamic knee prosthesis has become the main research direction and design of knee prosthesis, with the important theoretical significance and application value. This paper mainly based on the information collection and analysis of dynamic characteristics of knee prosthesis, the establishment of knowledge base, the motion control of three aspects. The main content is: first, dynamic process and artificial limb prosthetic movement to determine the actuator delay will bring the prosthetic movement to delay. Lead legs movement is not natural, asymmetry. In order to overcome this drawback, the hip angle acquisition of human motion, acceleration and plantar pressure signal, and the acceleration signal used in hidden Markov models On the pre recognition Road, and extract the acceleration sensor, some key points of signal sensor to divide the pace of plantar pressure gait phase and pre recognition. Secondly, the healthy and disabled healthy limb knee joint motion curve as the desired curve, through iterative learning control, set up five kinds of condition, the three pace under the condition of call control knowledge database, call for knee joint movement. Finally, based on the dynamic type of knee prosthesis when walking, the relationship between characteristics of each gait cycle has certain order, the finite state machine method based on iterative learning control, based on the output of finite state machine, control to control the amount of knowledge in the database calls, the traffic, power type prosthetic step speed, gait phase control, can greatly improve the power and safety of artificial limbs Speed up.

【學(xué)位授予單位】：河北工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：R496;TP399-C8

【參考文獻】

相關(guān)期刊論文 前1條

1 譚冠政,吳立明;國內(nèi)外人工腿(假肢)研究的進展及發(fā)展趨勢[J];機器人;2001年01期

，

本文編號：1372796