智能仿生腿的研究

首先在总结智能假腿发展的基础上，针对其新的发展趋势，引出智能仿生腿的概念和研究内容，并探讨了基于基本步态模式和有限状态机的仿生腿步态规划方法，全功能仿生膝关节的设计和稳定性分析；其次研究了仿生腿的控制以及生物信号在仿生腿中的应用；最后指出了智能仿生腿在信息交互、感知、能源动力等方面的发展动向．

Study of intelligent bionic limb prosthesis

Based on the summary of the development process of intelligent limb prosthesis, the conception of intelligent bionic limb prosthesis (IBLP) is introduced. The method for gait plan based on general gait pattern of biologic locomotion is discussed and the application of finite state machine(FSM) to representative gait state transition network is offered. The principle mechanism of humanoid polycentric knee and the general structure of IBLP are studied. The control model of IBLP is given and the dynamics model of single axis knee is derived using the Lagrange equation approach. IBPL controlled by biologic signal is discussed. Finally the development trend at the aspect of sensorial and energy of IBPL is pointed out.