信息与控制2024，Vol.53Issue(1)：33-46,14.DOI:10.13976/j.cnki.xk.2023.2522
基于动态运动基元的6自由度下肢外骨骼步态轨迹规划与控制策略
Gait Trajectory Planning and Control Strategy of 6-DOF Lower Limb Exoskeleton Based on Dynamic Movement Primitives
摘要
Abstract
To solve the problem of gait trajectory planning during the rigid operation of lower limbs,we propose an online gait trajectory planning method and control strategy based on dynamic movement primitives.The technique uses plantar pressure to segment the gait phase,a linear inverted pendu-lum model to determine the location of the landing site,inverse kinematic programming to deter-mine the angle of each joint,and a dynamic movement primitives algorithm to learn online the traj-ectory of each previous gait phase.We apply the previously obtained joint angle as the target end-point for real-time gait trajectory planning.Finally,we control the exoskeleton according to the control strategy from the generated curves.The algorithm is verified using a 6-DOF exoskeleton,and the results show that the proposed algorithm can effectively learn and generate the gait trajectory online according to the transformation of the gait phase,ensuring a certain degree of motion stability.关键词
动态运动基元/下肢外骨骼/线性倒立摆模型/步态轨迹规划Key words
dynamic movement primitive/lower-limb exoskeleton/linear inverted pendulum model/gait trajectory planning分类
信息技术与安全科学引用本文复制引用
赵佳伟,朱立忠,陈万鑫,张弼,赵新刚..基于动态运动基元的6自由度下肢外骨骼步态轨迹规划与控制策略[J].信息与控制,2024,53(1):33-46,14.基金项目
国家自然科学基金项目(62103406) （62103406）
辽宁省自然科学基金项目(2021-MS-032) （2021-MS-032）
中国科学院"区域发展青年学者"(2021-004) （2021-004）
