| 下肢骨骼服全过程运动控制研究 |
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| 引用本文： | 顾文锦,朱宇光,杨智勇,张远山. 下肢骨骼服全过程运动控制研究[J]. 控制工程, 2011, 18(2): 290-293,298 |
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| 作者姓名： | 顾文锦 朱宇光 杨智勇 张远山 |
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| 作者单位： | 1. 海军航空工程学院,控制工程系,山东,烟台,264001
2. 海军航空工程学院,研究生管理大队,山东,烟台,264001 |
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| 基金项目： | 国家自然科学基金资助项目 |
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| 摘 要： | 为了实现下肢骨骼服的全过程运动控制,提出了对下肢骨骼服进行分阶段控制的策略.根据人体运动数据将下肢骨骼服的运动划分为摆动阶段和支撑阶段;根据这2个阶段的特点,摆动阶段采用灵敏度放大控制方法,支撑阶段采用位置控制方法,利用脚底压力传感器信号实现两种状态下控制器的切换.分阶段控制策略既利用了灵敏度放大控制的优点,避免了在使...
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| 关 键 词： | 下肢骨骼服 CGA数据 灵敏度放大 位置控制 |
Research On Full Cycle Movement Control of Lower Extremity Exoskeleton |
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| GU Wen-Jin,ZHU Yu-guang,YANG Zhi-yong,ZHANG Yuan-shan. Research On Full Cycle Movement Control of Lower Extremity Exoskeleton[J]. Control Engineering of China, 2011, 18(2): 290-293,298 |
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| Authors: | GU Wen-Jin ZHU Yu-guang YANG Zhi-yong ZHANG Yuan-shan |
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| Affiliation: | GU Wen-Jin1,ZHU Yu-guang2,YANG Zhi-yong2,ZHANG Yuan-shan2(1.Department of Control Enginee Naval Aeronautical and Astronautical University,Yantai 264001,China,2.Graduate Students' Brigade,Naval Aeronautical and Astronautical University,China) |
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| Abstract: | The movement control prodem of exeskeleton suit is discussed.In order to realize full cycle movement control of lower extremity exoskeleton.A stage control strategy is proposed.The movement of Lower extremity exoskeleton is divided into swing phase and stance phase based on the clinical gait analysis(CGA)data.According to the features two phases,the sensitivity amplified control(SAC) method is employed in swing phase and the position control method is applied in stance stage.The strategy makes full use of t... |
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| Keywords: | lower extreme exoskeleton CGA data SAC position control |
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