本文選題：假肢 + 人機共融　； 參考：《機器人》2017年04期

【摘要】：從人機共融角度出發(fā)設(shè)計了假肢跌倒保護控制系統(tǒng),包括跌倒預(yù)警和跌倒保護控制兩個方面.首先通過綜合分析所采集的人機信息設(shè)計跌倒預(yù)警系統(tǒng),完成假肢穿戴者異常步態(tài)的有效識別與預(yù)警.通過基于健康人有效保護策略的經(jīng)驗知識庫方法提取跌倒保護動作經(jīng)驗,制訂對應(yīng)假肢膝關(guān)節(jié)的跌倒保護策略.以四連桿假肢機構(gòu)作為被控對象,通過多項式擬合建立運動控制模型,設(shè)計基于事件觸發(fā)的下肢假肢跌倒保護控制系統(tǒng).以跌倒預(yù)警信息作為事件觸發(fā)條件,以健康人在將要跌倒?fàn)顩r下的膝關(guān)節(jié)恢復(fù)動作作為目標(biāo)意圖,來控制假肢膝關(guān)節(jié)完成預(yù)定轉(zhuǎn)動.實驗結(jié)果表明,假肢膝關(guān)節(jié)與人體殘肢能在同一自然空間緊密協(xié)調(diào),做出正確的保護動作.
[Abstract]:A fall protection control system for artificial limbs is designed from the point of view of man-machine integration, including fall warning and fall protection control. Firstly, a fall warning system is designed by synthetically analyzing the human-computer information collected to effectively identify and warn the abnormal gait of the prosthetic wearer. Based on the experience knowledge base method of effective protection strategy for healthy people, the experience of fall protection is extracted, and the fall protection strategy corresponding to prosthetic knee joint is worked out. The four-link prosthetic mechanism was used as the controlled object, and the motion control model was established by polynomial fitting, and an event-based lower limb fall protection control system was designed. Taking the fall warning information as the trigger condition and the knee joint recovery action of the healthy person under the condition of falling as the target intention, the knee joint of the prosthesis can be controlled to complete the scheduled rotation. The experimental results show that the knee joint of prosthetic limb can coordinate closely with human residual limb in the same natural space and make correct protective action.
【作者單位】： 河北工業(yè)大學(xué)控制科學(xué)與工程學(xué)院;智能康復(fù)裝置與檢測技術(shù)教育部工程研究中心;
【基金】：國家自然科學(xué)基金(61174009,61203323)
【分類號】：TP273

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