人体足踝动态模拟加载控制系统研究  

Foot Biomechanical Force Loading Control System

作　　者：徐振胤[1] 施光林[1] 王冬梅[1] 刘安民 王旭[3] 

机构地区：[1]上海交通大学机械与动力工程学院,上海200240 [2]University of Salford [3]复旦大学附属华山医院骨科,上海200040

出　　处：《机电一体化》2013年第4期13-16,72,共5页Mechatronics

基　　金：国家自然科学基金资助项目(81071234)

摘　　要：研究了足踝生物力学仿真实验台的控制问题，它具有多输入多输出、非线性、强耦合、控制目标多样的特点。通过离线的PID迭代学习的算法，在实际系统上验证了该算法的有效性与可靠性，经过4～5次的迭代学习，输出曲线与目标曲线的均方根误差收敛到13N，小于模拟负载的5％，控制效果符合预期。研究结果表明，实验台可以在5s的时间内完成1个支撑相的模拟，3个方向的足底反力都具有重复性和可控性，在50％的人体质量下可以使M型曲线收敛到目标曲线。A novel robotic foot and ankle biomechanical simulator was developed to simulate both motion and force characteristics in a gait cycle with 5 degree-of-freedom （DOF）. Our novel simulator with high verified repeatability could complete the motion and force loading process in 5 seconds with half scale of real body weight in a relatively high similarity of human behavior. Iterative learning control （ILC） was applied to control the vertical motion in a stance phase aiming to achieve an accurate three dimensional ground reaction force for different specimen with a quick convergence process. The control strategy was validated in the simulation platform with a prosthetic foot.

关 键 词：步态模拟器 多轴力控制 迭代学习 足踝生物力学 

分 类 号：TB18[一般工业技术]