华东理工大学学报（自然科学版）2018，Vol.44Issue(2)：283-288,6.DOI:10.14135/j.cnki.1006-3080.20070328004
主被动踝关节假肢力/位混合控制研究
Hybrid Force/Position Control Research of Hybrid Active-Pqssive Powered Ankle-Foot Prosthesis
摘要
Abstract
With the development of intelligent control algorithm and electronic technology,it becomes an important research direction in domestic and international studies to develop the dynamic ankle-foot prosthesis for the lower leg amputees.In order to achieve this goal,we designed a kind of hybrid model of ankle joint prosthesis which was emulated by Adams and got humanoid ankle angle and angle velocity curves in human walking.This paper designed the first generation of hybrid powered ankle-foot prosthetic prototype,combining active and passive actuators is designed which is combined with the existing research base and experimental conditions and based on the biomechanics characteristics of ankle in the human gait cycle to meet the demand of the movement of the shank amputees.T he mechanical structure of prosthesis includes series elastic actuator,parallel spring mechanism,synchronous belt,lead screw drive system and direct current servo motor.Through analysis of the bionic movement of prototype and the build of prototype kinematic model,this paper proposes a servo system with hybrid angle/torque control based on the finite state machine.The kinematics analysis of prosthesis is carried out to meet the functions of ankle in working.And finite state machine control algorithm is used in different stages in gait cycle by different control methods.It uses matrix laboratory simulation of the prosthetic movement and the angle control experiment with the PID and fuzzy PID control algorithms.The result shows that the movement of ankle joint prosthesis can be similar to the ankle angles-moment curve of the human body,and the curve of fuzzy PID control algorithm's output is closer to the human body characteristics,w hich verifies the rationality of the design and the feasibility of control scheme.The research can provide foundation for the application of prototype.关键词
踝关节假肢/串联弹簧执行器/有限状态机/力/位混合控制/模糊PIDKey words
ankle prosthesis/series elastic actuator/finite state machine/hybrid force/position control/fuzzy-PID分类
机械制造引用本文复制引用
吕荣安,曹恒,朱钧,陈志青..主被动踝关节假肢力/位混合控制研究[J].华东理工大学学报（自然科学版）,2018,44(2):283-288,6.基金项目
国家自然科学基金(51275170) （51275170）
