下肢假肢穿戴者跌倒保护控制系统设计

Design of Fall Protection and Control System for Wearers of Lower Limb Prosthesis

  • 摘要: 从人机共融角度出发设计了假肢跌倒保护控制系统,包括跌倒预警和跌倒保护控制两个方面.首先通过综合分析所采集的人机信息设计跌倒预警系统,完成假肢穿戴者异常步态的有效识别与预警.通过基于健康人有效保护策略的经验知识库方法提取跌倒保护动作经验,制订对应假肢膝关节的跌倒保护策略.以四连杆假肢机构作为被控对象,通过多项式拟合建立运动控制模型,设计基于事件触发的下肢假肢跌倒保护控制系统.以跌倒预警信息作为事件触发条件,以健康人在将要跌倒状况下的膝关节恢复动作作为目标意图,来控制假肢膝关节完成预定转动.实验结果表明,假肢膝关节与人体残肢能在同一自然空间紧密协调,做出正确的保护动作.

     

    Abstract: From the perspective of human-robot integration, the fall protection and control system for prosthesis is designed, including fall pre-warning and fall protection control. Firstly, a fall pre-warning system is designed through analyzing the human-machine comprehensive information to implement pre-recognition and pre-warning of the abnormal fall gait of the wearers effectively. The experience of fall protection action is extracted by the method of empirical knowledge library based on the effective protection strategy of the healthy people, and the fall protection strategy is developed for the prosthetic knee joint. The four-link prosthetic mechanism is taken as the controlled object, the motion control model is established through polynomial fitting to design the fall protection control system of lower limb prosthesis based on the event triggered control. The fall warning information is used as the trigger condition, and the knee-joint recovery action of the healthy people when falling down is taken as the target intention to control the scheduled turning of the prosthetic knee joint. Experiments show that the prosthetic knee joint and residual limb can coordinate closely in the same natural space and realize the right protection.

     

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