踝关节柔性助行机构设计与控制系统的研究  

Design and control system for ankle joint flexible walking aid mechanism

作　　者：陈泽宇 苏海龙[1,2] CHEN Zeyu;SU Hailong(College of Mechanical Engineering,Tianjin University of Science and Technology,Tianjin 300222,China;Tianjin Key Laboratory of Integrated Design and Online Monitoring of Light Industry and Food Engineering Machinery and Equipment,Tianjin University of Science and Technology,Tianjin 300222,China)

机构地区：[1]天津科技大学机械工程学院,天津300222 [2]天津科技大学、天津市轻工与食品工程机械装备集成设计与在线监控重点实验室,天津300222

出　　处：《现代电子技术》2023年第17期122-125,共4页Modern Electronics Technique

基　　金：天津市科技计划项目(22YFZCSN00160)。

摘　　要：由于踝关节柔性助行机构结构较为复杂,使用者需求多样化,使其控制效果和应用性能较差。为此,提出踝关节柔性助行机构设计与控制系统。根据使用者需求设计踝关节柔性助行机构总体方案、驱动单元、执行单元与变刚度构件,并确定各个单元参数的计算公式。采用足底压力传感器与陀螺仪传感器识别与预测使用者的步态,应用LabVIEW软件开发助力控制程序,实现踝关节柔性助行机构的控制。实验数据表明,设计系统获得的步态周期长度预测结果与实际步态周期长度保持一致,具有较好的应用性能。The control effect and application performance of the ankle joint flexible walking aid mechanism are poor because of its complex structure and the diversity of user needs.Therefore,a design and control system for ankle joint flexible walking aid mechanism is proposed.According to the user needs,the overall scheme,driving unit,execution unit and variable stiffness component of the mechanism are designed,and the parameter calculation formulas of each unit are determined.The plantar pressure sensor and gyroscope sensor are used to identify and predict the user′s gait,and LabVIEW is used to develop the aid control program to control the mechanism.The experimental data show that the gait cycle length prediction result obtained by the designed system is consistent with the actual gait cycle length,so the designed system is of good application performance.

关 键 词：步态周期预测 踝关节助力 变刚度构件 运动控制 柔性助行机构 驱动机构 步态识别 

分 类 号：TN876-34[电子电信—信息与通信工程] TP242[自动化与计算机技术—检测技术与自动化装置]