基于有限状态机控制的智能假肢踝关节  

Intelligent prosthetic ankle based on the finite state machine control

作　　者：杨鹏[1] 柏健[1] 王欣然[2] 耿艳利[1] 

机构地区：[1]河北工业大学控制科学与工程学院,天津市300130 [2]山东大学控制科学与工程学院,山东省济南市250100

出　　处：《中国组织工程研究》2013年第9期1549-1554,共6页Chinese Journal of Tissue Engineering Research

基　　金：国家科技支撑计划(2009BAI71B04):仿生大腿假肢的研发~~

摘　　要：背景:目前智能假肢只是考虑了膝关节的作用,假肢踝关节只是作为假肢膝关节的辅助工具,无法根据外部环境和步态的变化实现假肢自然的行走。目的:研制出可靠的智能假肢踝关节,有效改善截肢者的步态。方法:在阻尼可变式踝足假肢的基础上,提出了有限状态机的控制方法,对踝足步态进行了详细的划分,在每个步态内制定了相关的控制策略。结果与结论:实验结果表明,基于有限状态机控制的智能假肢踝关节能够有效的跟随健肢侧运动,能够适应不同的步速,为以后膝踝协调运动奠定了一定的实验基础。BACKGROUND： At present, intelligent prosthesis only focuses on the function of knee joint, while ankle joint prosthesis is only used as the aid of prosthetic knee joint. So the normal gait cannot be realized according to the change of external environment and gait. OBJECTIVE： To develop a reliable intelligent prosthetic ankle in order to improve the gait of amputees effectively. METHODS： Based on the variable damping ankle-foot prosthesis, the control method of finite state machine was proposed. The ankle joint gait was planned in detail, and the relevant control strategy was developed. RESULTS AND CONCLUSION： Results indicate that the intelligent prosthetic ankle based on the finite state machine control can effectively follow health limb lateral movement, and can adapt to different paces,which lays an experimental basement for later knee ankle coordinated movement.

关 键 词：骨关节植入物 人工假体 智能假肢 膝关节 有限状态机 智能控制器 步态 截肢 踝足假肢 膝 踝运动 数字化 智能化 其他基金 骨关节植入物图片文章 

分 类 号：R318[医药卫生—生物医学工程]