一种基于非线性振荡器的步态轨迹自适应算法  

A Gait Trajectory Adaptation Algorithm Based on Nonlinear Oscillator

作　　者：罗林聪[1,2] 侯增广[1,3] 王卫群[1] 彭亮[1] LUO Lin-Cong HOU Zeng-Guang WANG Wei-Qun PENG Liang(State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190 University of Chinese Academy of Sciences, Beijing 100049 CAS Center for Excellence in Brain Science and Intelligence Technology, Chinese Academy of Sciences, Beijing 100190)

机构地区：[1]中国科学院自动化研究所复杂系统管理与控制国家重点实验室,北京100190 [2]中国科学院大学,北京100049 [3]中国科学院脑科学与智能技术卓越创新中心,北京100190

出　　处：《自动化学报》2016年第12期1951-1959,共9页Acta Automatica Sinica

基　　金：国家自然科学基金(61225017;61421004;61533016);中国科学院先导科技专项(XDB02080000);北京市科技计划(Z161100001516004)资助~~

摘　　要：步态训练轨迹是影响康复训练效果的一项重要因素,而自适应性对于下肢康复机器人的临床应用具有重要的意义.振荡器可通过在线调节参数而输出不同波形的周期信号,常用于康复机器人步态轨迹的生成.本文在高斯核函数非线性振荡器的基础上提出了一种下肢康复机器人步态轨迹自适应算法.该算法通过轨迹偏差实现对参考轨迹波形的调节,并且用相位偏差曲线面积实现参考轨迹周期的自适应.本文首先介绍了用于生成步态参考轨迹的非线性振荡器的数学模型;其次,详细描述了基于该模型的参考轨迹波形和周期自适应算法;最后,以悬挂减重式下肢康复机器人为研究对象,建立机器人与人体下肢仿真模型,对所提出的步态参考轨迹自适应算法进行仿真实验,并验证了该算法的可行性.Gait trajectory is an important factor to the effects of rehabilitation with adaptability has great significance for clinical application of lower limb rehabilitation robot. The oscillator can output various waveforms and periodic smooth signals by adjusting parameters online, which is frequently used to generate gait reference trajectory for rehabilitation robots. This paper proposes a gait trajectory adaptation algorithm for lower limb rehabilitation robot based on Gaussian kernel nonlinear oscillators. In the algorithm, trajectory deviation is used to adjust the waveform of reference trajectory, and the area of phase deviation curve is used to adjust the period of reference trajectory. Firstly, the paper introduces the nonlinear oscillator model for generating gait reference trajectory. Then, the adaptation algorithms for gait trajectory waveform and period are described based on this mathematical model. Finally, a human-robot simulation model is built based on a weight supporting rehabilitation robot system. These algorithms are validated by simulation experiments and the results demonstrate the feasibility of proposed algorithms.

关 键 词：下肢康复机器人 步态轨迹 振荡器 自适应算法 步态训练 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] R49[自动化与计算机技术—控制科学与工程]