混合驱动踝足假肢阻抗控制方法  

Impedance control of hybrid powered ankle-foot prosthesis

作　　者：朱钧[1] 曹恒[1] 王瑜[1] 孙波[1] 姚海庆[1] 

机构地区：[1]华东理工大学机械与动力工程学院,上海200237

出　　处：《中国科技论文》2014年第1期117-121,共5页China Sciencepaper

基　　金：国家自然科学基金资助项目(51275170);高等学校博士学科点专项科研基金资助项目(20100074110005)

摘　　要：本文建立并分析了一种主被动混合驱动踝足假肢动力学模型,提出了一种基于步态有限状态机阻抗规划和前馈补偿力内环的实时阻抗控制算法。为了检验该控制方法的有效性,建立了假肢的多体动力学模型和阻抗控制器模型,并进行了联合仿真研究。研究结果表明,该算法能够有效地控制动力踝足假肢关节完成平地步行,并实现步态中的关节变阻抗行为。该控制算法改善了主被动混合驱动踝足假肢控制的可控性,提高了关节阻抗的控制性能。A dynamic model of active-passive hybrid powered ankle-foot prosthesis has been built and analyzed.A real-time imped-ance control algorithm based on gait finite-state-machine impedance planning and feedforward compensating force inner loop is presented.The multi-body dynamic model and impedance controller model of prosthesis are constructed for a joint simulation study to verify the above-mentioned algorithm.Simulation results indicate that this algorithm can enable the prosthesis to achieve level walking gait and variable-impedance behavior.This algorithm improves the controllability and impedance performance of the active-passive hybrid powered ankle-foot prosthesis,and it is valuable for further engineering application and research.

关 键 词：假肢 串联弹性驱动 有限状态机 阻抗控制 

分 类 号：R687.5[医药卫生—骨科学]