东南大学学报（自然科学版）2017，Vol.47Issue(6)：1107-1116,10.DOI:10.3969/j.issn.1001-0505.2017.06.005
膝上型假肢的运动意图识别与控制
Motion intention recognition and control of above knee prosthesis
摘要
Abstract
According to the combination of different terrains and walking speeds in the way of Cartesian product,a motion intention recognizer for amputee was presented.The sensor system was composed of an accelerometer,a gyroscope mounted on the prosthetic socket,and two pressure sensors mounted under the sole.The motion intention was inferred by intra-class correlation coefficient,sensor fusion and hidden Markov model.And a flexible iterative learning control (ILC) was proposed to build an experience database for the control of knee joint in prosthesis.And the motion state of the healthy knee was set as the learning sample in ILC.Furthermore,the sensor signals of the state transition were used to drive a finite state machine (FSM).The control experience in the knowledge database was output to control the stride phase according to the terrain,and speed.Besides,an online correction was adopted to reduce the real-time errors in the output axis.Moreover,to regulate the output sequence lead and lag in time axis,an output holder and a compensator were used.The experimental results show that the accuracy of the terrain recognition using the hidden Markor model is improved by 91.7％.Thus,the model-free control method is effective for prosthesis gait control of prosthesis according to the terrain and speed.关键词
假肢/运动意图/迭代学习控制/有限状态机Key words
prosthesis/motion intention/iterative learning control/finite state machine分类
信息技术与安全科学引用本文复制引用
宣伯凯,刘作军,陈玲玲,杨鹏..膝上型假肢的运动意图识别与控制[J].东南大学学报（自然科学版）,2017,47(6):1107-1116,10.基金项目
国家自然科学基金资助项目(61703135,61773151)、河北省自然科学基金青年基金资助项目(F2016202327). （61703135,61773151）
