下肢运动模式识别及动力型假肢膝关节控制方法研究
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摘要
高性能假肢膝关节为大腿截肢者恢复正常下肢功能与重返社会活动提供有力保障。目前进入市场假肢膝关节能够实现行走功能，长时间穿戴假肢因为步态不对称会对残端肌肉与骨骼造成影响。动力型假肢膝关节能够利用动力元件提供支撑期推力与摆动期的伸展运动，因此控制信号的获取以及运动角度的高度拟人特性是动力型假肢膝关节控制精度的重要保证。本课题研究的动力型假肢膝关节将建立截肢者残肢运动信息采集系统，实现下肢典型周期性运动模式的识别，基于有限状态机对动力型假肢膝关节控制方法进行研究，本文主要研究内容如下：
1.利用VICON三维步态运动信息采集系统，对五种典型周期性运动的运动学信息进行采集，得到下肢各标志点位置以及下肢髋关节、膝关节与踝关节在五种运动中的角度变化范围。利用AMTI与Novel Pedar-X测力系统得到五种运动中的地面反力信息，划分步态周期并定义步态典型运动。采集穿戴被动式假肢的残疾人下肢关节角度信息，通过对比五种路况健肢侧与残肢侧角度变化得出穿戴被动式假肢不仅使步态不对称而且增加了健肢侧的负担。
2.根据人机工程学中人体分段原理，利用Solidworks软件建立人体下肢3D模型，将Vicon中测量的下肢各关节运动角度数据作为3D模型的输入数据，得到各关节角度、速度与加速度信息进行人体下肢运动学分析。将人体下肢简化为3刚体模型，以牛顿第二定律与牛顿-欧拉平衡方程为基础建立动力学计算公式，得到五种运动模式中力矩与功率信息，对人体下肢动力学进行分析。
3.为动力型膝上假肢设计了传感器系统，包含运动信息的采集与脚底压力信息的采集，采集五种典型周期性运动的髋关节运动信息，利用KNN算法实现步态识别。在脚前掌与脚后跟安装压力传感器实现一个完整步态不同时期的检测。此传感器系统能够很好的实现下肢运动模式识别。
4.动力型假肢膝关节要求不仅能够为穿戴者行走提供所需的动力，而且要达到与健肢侧的协调运动。所研究的五种人体下肢运动步态具有很强的重复性和周期性，本课题采用基于传感器驱动“有限状态机”(FSM)方法对动力型假肢膝关节控制方法进行研究。该方法对典型的步态进行详细规划，输入事件由系统的传感器信息提供，假肢控制器根据控制模式数据库制定的规则进行动作输出。
High-performance knee prosthesis provides a powerful guarantee for transfemoral amputee.It can help them restoring their normal function and sending them back to society. In recentdecades, transfemoral prostheses have changed from purely mechanical systems tomicroprocessor control systems. The commercial transfemoral prostheses remain limited toenergetically passive devices. The prostheses can achieve the function of level ground walking,but in the case of asymmetric gait affect stump muscle and skeleton. Active knee prosthesis canprovide assistance in stance phase and complete extension in swing phase using motor power.The control signal acquisition and joint angle anthropomorphic character is the importantguarantee in control accuracy of active knee prosthesis. Motion information acquisition systemof affected-side is established. The system is used to recognized motion pattern of typicalcyclical movement. The control method of active knee prosthesis is studied based on Finite StateMachine (FSM). The main content of the dissertation could be presented as follows:
1. VICON MX system is used to capture five typical cyclical movements. The location ofeach mark point is obtained. The range of hip joint, knee joint and ankle joint angle is collected.3D force plates AMTI and Novel Pedar-X is used to measure ground reaction force of five gaits.The gait cycle is divided into different phases based on force data. The lower limb joint angle ofamputee who wears passive knee prosthesis is gathered. The angle of sound-side and affect-sideis compared. The result is that wearing passive knee prosthesis is not only cause asymmetricalgait, but also put extra pressure on sound side.
2. The3D model of human is built using Solidworks, which based on theory of humansegmented in ergonomics. Kinematics of lower limb is analyzed by COSMOSMotion. The jointangle data is used in3D model as input signal. Angular velocity and angular acceleration iscalculated. The lower limb is divided into three parts and each part is rigid model. Dynamicequation is established based on Newton’s second law and Newton-Euler equation. Based on thisDynamic equation joint moment and power is computed. Kinetics of lower limb is analyzed.
3. The sensor system of active knee prosthesis is designed. Motion information and footpressure is collected. The sensor system is composed of accelerometer and gyroscopes, whichused to obtain motion information of transfemoral amputee. The characteristic value is extractedby wavelet package. K-Nearest Neighbor (KNN) algorithm is used in motion pattern of typicalcyclical movement. Pressure sensor is placed in heel and toe, which used to detect the phases ofeach gait. The sensor can recognized motion pattern and phases quickly and precisely.
4. The Active Knee Prosthesis not only provides power for amputee, but also coordinatesthe movements of sound-side. The five typical motions are repeatability and periodicity. Finite State Machine (FSM) is used in the control methods of Active Knee Prosthesis. The five typicalmotions are detailed planning, which contain input events and states. The input events are comefrom sensor information. The state is come from control mode database.
1.利用VICON三维步态运动信息采集系统，对五种典型周期性运动的运动学信息进行采集，得到下肢各标志点位置以及下肢髋关节、膝关节与踝关节在五种运动中的角度变化范围。利用AMTI与Novel Pedar-X测力系统得到五种运动中的地面反力信息，划分步态周期并定义步态典型运动。采集穿戴被动式假肢的残疾人下肢关节角度信息，通过对比五种路况健肢侧与残肢侧角度变化得出穿戴被动式假肢不仅使步态不对称而且增加了健肢侧的负担。
2.根据人机工程学中人体分段原理，利用Solidworks软件建立人体下肢3D模型，将Vicon中测量的下肢各关节运动角度数据作为3D模型的输入数据，得到各关节角度、速度与加速度信息进行人体下肢运动学分析。将人体下肢简化为3刚体模型，以牛顿第二定律与牛顿-欧拉平衡方程为基础建立动力学计算公式，得到五种运动模式中力矩与功率信息，对人体下肢动力学进行分析。
3.为动力型膝上假肢设计了传感器系统，包含运动信息的采集与脚底压力信息的采集，采集五种典型周期性运动的髋关节运动信息，利用KNN算法实现步态识别。在脚前掌与脚后跟安装压力传感器实现一个完整步态不同时期的检测。此传感器系统能够很好的实现下肢运动模式识别。
4.动力型假肢膝关节要求不仅能够为穿戴者行走提供所需的动力，而且要达到与健肢侧的协调运动。所研究的五种人体下肢运动步态具有很强的重复性和周期性，本课题采用基于传感器驱动“有限状态机”(FSM)方法对动力型假肢膝关节控制方法进行研究。该方法对典型的步态进行详细规划，输入事件由系统的传感器信息提供，假肢控制器根据控制模式数据库制定的规则进行动作输出。
High-performance knee prosthesis provides a powerful guarantee for transfemoral amputee.It can help them restoring their normal function and sending them back to society. In recentdecades, transfemoral prostheses have changed from purely mechanical systems tomicroprocessor control systems. The commercial transfemoral prostheses remain limited toenergetically passive devices. The prostheses can achieve the function of level ground walking,but in the case of asymmetric gait affect stump muscle and skeleton. Active knee prosthesis canprovide assistance in stance phase and complete extension in swing phase using motor power.The control signal acquisition and joint angle anthropomorphic character is the importantguarantee in control accuracy of active knee prosthesis. Motion information acquisition systemof affected-side is established. The system is used to recognized motion pattern of typicalcyclical movement. The control method of active knee prosthesis is studied based on Finite StateMachine (FSM). The main content of the dissertation could be presented as follows:
1. VICON MX system is used to capture five typical cyclical movements. The location ofeach mark point is obtained. The range of hip joint, knee joint and ankle joint angle is collected.3D force plates AMTI and Novel Pedar-X is used to measure ground reaction force of five gaits.The gait cycle is divided into different phases based on force data. The lower limb joint angle ofamputee who wears passive knee prosthesis is gathered. The angle of sound-side and affect-sideis compared. The result is that wearing passive knee prosthesis is not only cause asymmetricalgait, but also put extra pressure on sound side.
2. The3D model of human is built using Solidworks, which based on theory of humansegmented in ergonomics. Kinematics of lower limb is analyzed by COSMOSMotion. The jointangle data is used in3D model as input signal. Angular velocity and angular acceleration iscalculated. The lower limb is divided into three parts and each part is rigid model. Dynamicequation is established based on Newton’s second law and Newton-Euler equation. Based on thisDynamic equation joint moment and power is computed. Kinetics of lower limb is analyzed.
3. The sensor system of active knee prosthesis is designed. Motion information and footpressure is collected. The sensor system is composed of accelerometer and gyroscopes, whichused to obtain motion information of transfemoral amputee. The characteristic value is extractedby wavelet package. K-Nearest Neighbor (KNN) algorithm is used in motion pattern of typicalcyclical movement. Pressure sensor is placed in heel and toe, which used to detect the phases ofeach gait. The sensor can recognized motion pattern and phases quickly and precisely.
4. The Active Knee Prosthesis not only provides power for amputee, but also coordinatesthe movements of sound-side. The five typical motions are repeatability and periodicity. Finite State Machine (FSM) is used in the control methods of Active Knee Prosthesis. The five typicalmotions are detailed planning, which contain input events and states. The input events are comefrom sensor information. The state is come from control mode database.
引文
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