郑州大学学报（工学版）2025，Vol.46Issue(3)：34-41,8.DOI:10.13705/j.issn.1671-6833.2025.03.012
基于肌电预测模型的下肢外骨骼自适应控制方法
Adaptive Control Method of Lower Limb Exoskeleton Based on Myoelectric Prediction Model
摘要
Abstract
In order to improve the adaptability of lower limb rehabilitation robot,such as its difficulty to respond to the patient's intention in real time,and to adapt to individual motion needs,in this study,an adaptive control method of lower limb exoskeleton was proposed based on myoelectric prediction model.By collecting the surface EMG signals of biceps femoris,rectus femoris and lateral femoris muscles,the EMG prediction model was construc-ted to predict the expected motion trajectory of patients.Aiming at the uncertainties and model errors of the system,an adaptive sliding mode controller was designed to dynamically adjust sliding mode parameters according to muscle activation,so as to improve the tracking accuracy and compliance of the robot.The myoelectric model and sliding mode controller were tested in an experiment with 5 healthy subjects.The results showed that the RMSE of the mod-el was 7.94 for the hip joint and 9.31 for the knee joint,which could meet the need of trajectory generation.Com-pared with the traditional PID control,the tracking accuracy of the adaptive sliding mode controller was improved by 28%,which proved the effectiveness of the method.关键词
康复机器人/表面肌电信号/滑模控制/轨迹跟踪Key words
rehabilitation robot/surface electromyography signal/sliding mode control/trajectory tracking分类
计算机与自动化引用本文复制引用
孙国安,赵明,张廷丰,张弼..基于肌电预测模型的下肢外骨骼自适应控制方法[J].郑州大学学报（工学版）,2025,46(3):34-41,8.基金项目
国家自然科学基金资助项目(62103406,62333007) （62103406,62333007）
