下肢假肢关节电机的运动控制研究  

Research on Motion Control of Joint Motor of Lower Limb Prosthesis

作　　者：简震 刘旭辉 丁志娟 胡慧娜 JIAN Zhen;LIU Xuhui;DING Zhijuan;HU Huina(School of Mechanical Engineering,Shanghai Institute of Technology,Shanghai 201418,China)

机构地区：[1]上海应用技术大学机械工程学院,上海201418

出　　处：《机床与液压》2021年第23期39-42,共4页Machine Tool & Hydraulics

基　　金：国家自然科学基金面上项目(51675345);上海市自然科学基金项目(16ZR1435800)。

摘　　要：结合四连杆机构和磁流变阻尼器设计一种新型磁流变阻尼下肢假肢。通过Opensim软件仿真,获得下肢关节角度曲线。为实现关节电机对关节角度曲线的轨迹跟随,以关节角度曲线为目标轨迹曲线,结合LabVIEW和STM32搭建关节电机实验测试平台,对下肢假肢关节电机进行运动控制研究。结果表明:关节实际轨迹与目标轨迹的误差不超过3.5°,关节电机的跟随效果较好。A new type of lower limb prosthesis with MR damper and four-bar linkage was designed. Through Opensim simulation, the lower limb joint angle curve was obtained. In order to realize the joint motor tracking the joint angle curve, the joint angle curve was taken as the target trajectory curve, the joint motor experimental test platform was built combined LabVIEW and STM32, and the motion control of the joint motor of lower limb prosthesis was studied. The results show that the error between the actual trajectory of the electronic control joint and the target trajectory is less than 3.5 °, and the electronic control joint has good tracking effect on the target trajectory curve.

关 键 词：磁流变阻尼器 运动控制 轨迹跟随 

分 类 号：TH113[机械工程—机械设计及理论] TM331[电气工程—电机]