本文選題：力矩控制 + 直立擾動(dòng)��； 參考：《華中科技大學(xué)學(xué)報(bào)(自然科學(xué)版)》2017年10期

【摘要】：為了解決人體直立擾動(dòng)平衡過(guò)程中踝關(guān)節(jié)力矩的控制問(wèn)題,提出一種基于肌電信號(hào)的肌肉反射模型和基于踝關(guān)節(jié)角度及角速度信息的比例微分環(huán)節(jié)反饋力矩控制模型,對(duì)人體控制機(jī)理做初步闡釋.實(shí)驗(yàn)者站于測(cè)力平臺(tái)上,受施加于背部的微小沖擊,保持膝、髖關(guān)節(jié)不彎曲,僅通過(guò)踝關(guān)節(jié)轉(zhuǎn)動(dòng)維持站立穩(wěn)定.通過(guò)慣性測(cè)量單元、肌電儀及測(cè)力平臺(tái)獲取運(yùn)動(dòng)學(xué)及動(dòng)力學(xué)信息.采用數(shù)據(jù)擬合獲取模型參數(shù),結(jié)果表明模型預(yù)測(cè)結(jié)果與實(shí)驗(yàn)測(cè)量數(shù)據(jù)相符.
[Abstract]:In order to solve the problem of ankle torque control in the process of human vertical disturbance balance, a muscle reflection model based on EMG signal and a proportional differential feedback torque control model based on angle and angular velocity information of ankle joint are proposed. The mechanism of human body control is preliminarily explained. The experimenter stood on the force-measuring platform and was subjected to a small impact on the back, keeping the knee and hip unbent and standing steadily only through the rotation of the ankle. The kinematics and dynamics information is obtained by inertial measuring unit, myoelectric instrument and force measuring platform. The model parameters are obtained by data fitting, and the results show that the model prediction results are in agreement with the experimental data.
【作者單位】： 武漢理工大學(xué)自動(dòng)化學(xué)院;中國(guó)科學(xué)院合肥智能機(jī)械研究所;
【基金】：國(guó)家自然科學(xué)基金資助項(xiàng)目(61603284) 武漢理工大學(xué)青年教師創(chuàng)新基金資助項(xiàng)目(20410756,20410832)
【分類(lèi)號(hào)】：R318
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本文編號(hào)：1876018