下肢假肢斜坡路况运动控制策略分析
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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.
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.
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.
引文
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[14]侯立刚,徐利军,苏成利,等.基于紧格式线性化的无模型动态矩阵控制[J].控制工程,2013,20(2):246-253.(Hou L G,Xu L J,Su C L,et al.Model free dynamic matrix control of nonlinear systems based on linearization of tight format[J].Control Engineering of China,2013,20(2):246-253.)
[15]王晏.人体下肢运动分析[D].大连:大连理工大学信息与通信工程学院,2005:19-37.(Wang Y.The lower limbs motion analysis[D].Dalian:School of Information and Communication Engineering,Dalian University of Technology,2005:19-37.)
[16]季林红,朱庆峰,武明,等.人体起步过程的实验研究--平地行走的起步步态特征[J].中国康复医学杂志,2001,16(3):176-179.(Ji L H,Zhu Q F,Wu M,et al.An experimental study of gait initiation:Characteristic starting gait in horizone plateform[J].Chinese J of Rehabilitation Medicine,2001,16(3):176-179.)
[17]Hou Z S,Jin S T.Model free adaptive control-theory and applications[M].Boca Raton:CRC Press,2013:45-118.
[18]Hou Zhongsheng,Jin Shangtai.Data-driven model-free adaptive control for a class of MIMO nonlinear discrete-time systems[J].IEEE Trans on Neural Networks,2011,22(12):2173-2188.
[19]Aleksandrov A B.Operator lipschitz functions and linear fractional transformations[J].J of Mathematical Sciences,2013,194(6):603-627.
[2]Vanden A J,Samorezov S,Davis B L.Modeling and optimal control of an energy-storing prosthetic knee[J].Jof Biomechanical Engineering,2012,134(5):145-151.
[3]Sup F,Varol H A,Goldfarb M.Upslope walking with a powered knee and ankle prosthesis:Initial results with an amputee subject[J].IEEE Trans on Neural Systems and Rehabilitation Engineering,2011,19(1):71-78.
[4]Vrieling A H,Keeken H G,Schoppen T,et al.Uphill and downhill walking in unilateral lower limb amputees[J].Gait Posture,2008,28(1):235-242.
[5]Paredes V,Hong W,Patrick S,et al.Upslope walking with transfemoral prosthesis using optimization based spline generation[C].IEEE/RSJ Int Conf on Intelligent Robots Systems.Daejeon:IEEE,2016:3204-3211.
[6]王启宁,郑恩昊,陈保君,等.面向人机融合的智能动力下肢假肢研究现状与挑战[J].自动化学报,2016,42(12):1780-1793.(Wang Q N,Zheng E H,Chen B J,et al.Recent progress and challenges of robotic lower-limb prostheses for human robot integration[J].Acta Automatica Sinica,2016,42(12):1780-1793.)
[7]杨鹏,刘作军,耿艳利,等.智能下肢假肢关键技术研究进展[J].河北工业大学学报,2013,42(1):76-80.(Yang P,Liu Z J,Geng Y L,et al.Research advance on key technology of intelligent lower limb prosthesis[J].Jof Hebei University of Technology,2013,42(1):76-80.)
[8]毕盛,闵华清,陈强,等.一种仿人机器人斜坡运动步态规划方法[J].华南理工大学学报:自然科学版,2010,38(11):148-160.(Bi S,Min H Q,Chen Q,et al.Gait planning of humanoid robots walking on slope[J].J of South China University of Technology:Natural Science,2010,38(11):148-160.)
[9]黄岩,谢广明,王启宁,等.半被动双足机器人动态行走的位姿估算[J].北京大学学报:自然科学版,2009,45(4):565-571.(Huang Y,Xie G M,Wang Q N,et al.Body state estimation in a quasi-passive bipedal robot during dynamic walking[J].Acta Scientiarum Naturalium Universitatis Pekinensis:Natural Science Edition,2009,45(4):565-571.)
[10]麻亮,纪军红,强文义,等.基于力矩传感器的机器人在线模糊步态调整器设计[J].控制与决策,2000,15(6):734-736.(Ma L,Ji J H,Qiang W Y,et al.Design of on-line fuzzy gait adjuster of biped robot using torque sensors[J].Control and Decision,2000,15(6):734-736.)
[11]苟斌,刘作军,赵丽娜,等.基于相关性分析的下肢假肢步行模式预识别方法[J].东南大学学报:自然科学版,2013,43(C1):192-196.(Gou B,Liu Z J,Zhao L N,et al.Walking mode pre-judgment of lower limb prosthesis based on correlation analysis[J].J of Southeast University:Natural Science Edition,2015,43(C1):192-196.)
[12]韩亚丽,贾山,王兴松.基于人体生物力学的低功耗踝关节假肢的设计与仿真[J].机器人,2013,35(3):276-282.(Han Y L,Jia S,Wang X S.Design and simulation of an ankle prosthesis with lower power based on human biomechanics[J].Robot,2013,35(3):276-282.)
[13]马玉良,徐文良,孟明,等.基于神经网络的智能下肢假肢自适应控制[J].浙江大学学报:工程版,2010,44(7):1373-1381.(Ma Y L,Xu W L,Meng M,et al.Adaptive control for intelligent lower limb prosthesis based on neural network[J].J of Zhejiang University:Engineering Science,2010,44(7):1373-1381.)
[14]侯立刚,徐利军,苏成利,等.基于紧格式线性化的无模型动态矩阵控制[J].控制工程,2013,20(2):246-253.(Hou L G,Xu L J,Su C L,et al.Model free dynamic matrix control of nonlinear systems based on linearization of tight format[J].Control Engineering of China,2013,20(2):246-253.)
[15]王晏.人体下肢运动分析[D].大连:大连理工大学信息与通信工程学院,2005:19-37.(Wang Y.The lower limbs motion analysis[D].Dalian:School of Information and Communication Engineering,Dalian University of Technology,2005:19-37.)
[16]季林红,朱庆峰,武明,等.人体起步过程的实验研究--平地行走的起步步态特征[J].中国康复医学杂志,2001,16(3):176-179.(Ji L H,Zhu Q F,Wu M,et al.An experimental study of gait initiation:Characteristic starting gait in horizone plateform[J].Chinese J of Rehabilitation Medicine,2001,16(3):176-179.)
[17]Hou Z S,Jin S T.Model free adaptive control-theory and applications[M].Boca Raton:CRC Press,2013:45-118.
[18]Hou Zhongsheng,Jin Shangtai.Data-driven model-free adaptive control for a class of MIMO nonlinear discrete-time systems[J].IEEE Trans on Neural Networks,2011,22(12):2173-2188.
[19]Aleksandrov A B.Operator lipschitz functions and linear fractional transformations[J].J of Mathematical Sciences,2013,194(6):603-627.