| 下肢外骨骼矫形器的动力学建模与运动控制研究 |
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| 引用本文： | 冯治国,钱晋武,章亚男,沈林勇.下肢外骨骼矫形器的动力学建模与运动控制研究[J].高技术通讯,2009,19(3). |
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| 作者姓名： | 冯治国 钱晋武 章亚男 沈林勇 |
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| 作者单位： | 上海大学机电工程与自动化学院智能机械与系统实验室,上海,200072 |
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| 基金项目： | 国家高技术研究发展计划(863计划)，上海市重点学科项目，上海市教委科研创新重点项目 |
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| 摘 要： | 对用于步行训练的下肢外骨骼矫形器的动力学与运动控制进行了研究.首先利用拉格朗日法建立了下肢外骨骼矫形器在跑步机上双足步行的动力学模型;在此基础上,设计了实现下肢外骨骼矫形器的轨迹跟踪控制的计算力矩加比例微分反馈控制系统,并采用Lyapunov方法,分析了控制系统在建模存在误差情况下的稳定性和收敛性;最后,在Adams-Matlab虚拟样机协同仿真平台上进行了下肢外骨骼矫形器的步行仿真实验,结果表明该控制方法对下肢外骨骼矫形器的轨迹跟踪控制是有效的.
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| 关 键 词： | 外骨骼矫形器 动力学模型 计算力矩控制 轨迹跟踪 |
Dynamics modeling and motion control for lower limb exoskeleton orthosis |
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| Feng Zhiguo,Qian Jinwu,Zhang Yanan,Shen Linyong.Dynamics modeling and motion control for lower limb exoskeleton orthosis[J].High Technology Letters,2009,19(3). |
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| Authors: | Feng Zhiguo Qian Jinwu Zhang Yanan Shen Linyong |
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| Affiliation: | Feng Zhiguo,Qian Jinwu,Zhang Yanan,Shen Linyong (Laboratory of Intelligent Machine and System,School of Mechatronics Engineering and Automation |
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| Abstract: | The dynamics modeling and motion control for a lower limb exoskeleton orthosis used for gait training were investigated. Firstly, a dynamic model of the powered gait orthosis (a lower limb exoskeleton orthosis) walking on the treadmill was established based on the research of the body weight support training. Then, the computed torque controller with proportion-differential feedback was designed to realize the trajectory tracking control for the lower limb exoskeleton orthosis. According to the Lyapunov fun... |
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| Keywords: | exoskeleton orthosis dynamic model computed torque control trajectory tracking |
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