中国组织工程研究

中国组织工程研究 ›› 2012, Vol. 16 ›› Issue (26): 4872-4876.doi: 10.3969/j.issn.1673-8225.2012.26.024

• 数字化骨科 digital orthopedics • 上一篇    下一篇

基于模糊控制的智能下肢假肢的步速调整

岳 华，杨 鹏，陈玲玲，耿艳利   

  1. 河北工业大学控制科学与工程学院，天津市 300130
  • 收稿日期:2011-10-25 修回日期:2011-10-25 出版日期:2012-06-24 发布日期:2013-11-02
  • 通讯作者: 耿艳利，河北工业大学控制科学与工程学院，天津市 300130
  • 作者简介:岳华★，男，1985年生，河北省保定市人，汉族，河北工业大学在读硕士，主要从事计算机智能控制及工程应用研究。 yue_hua2009@126.com
  • 基金资助:

    国家科技支撑计划(2009BAI71B04)；国家自然科技基金(61174009)资

Gait adjustment of intelligent lower limb prosthesis based on fuzzy control

Yue Hua, Yang Peng, Chen Ling-ling, Geng Yan-li   

  1. School of Control Science and Engineering, HeBei University of Technology, Tianjin 300130, China
  • Received:2011-10-25 Revised:2011-10-25 Online:2012-06-24 Published:2013-11-02
  • Contact: Geng Yan-li, School of Control Science and Engineering, HeBei University of Technology, Tianjin 300130, China
  • About author:Yue Hua★, Studying for master’s degree, School of Control Science and Engineering, HeBei University of Technology, Tianjin 300130, China yue_hua2009@126.com

PDF

427

被引次数

10

摘要：

背景：传统下肢假肢只允许以一种速度行走，不能随步行状态的改变而改变，使得步速也固定单一，不能适应不同步速的变化，适应性较差。
目的：采用模糊控制方法实现假肢的步速跟随。
方法：通过脚底压力传感器采集步态周期信息，根据不同开度下周期的不同变化采用模糊控制的方法来调整针阀开度的大小，通过永磁式直线步进电机作为执行器驱动针阀来控制缓冲气缸腔室间气道有效截面积来调整假肢摆动速度。
结果与结论：在步行速度变化时，假肢膝关节角度有所变化，但是角度变化不大。最大值不超过80°。假肢步态变化小于11°，截肢者能够适应不同的步行速度，假肢与健肢的步态变化基本一致，对称性指数在90%以上。实验结果表明，步态周期可以通过控制针阀达到调整步速的目的，步速调整的模糊控制方法是可行的。

关键词: 智能下肢假肢, 步态周期, 模糊控制, 步速调整

Abstract:

BACKGROUND: Traditional lower limp prosthesis only allows single walking speed which cannot change with the gait, so the pace is also fixed single and cannot adapt to different speeds. The adaptability of traditional prosthesis is poor.
OBJECTIVE: To achieve the gait following of the prosthesis by fuzzy control methods.
METHODS: Four-bar linkage with a fixed pneumatic cylinder was adopted as the mechanism of the prosthesis joint. A fuzzy control rule was proposed to control the valve opening base on the changes of the gait cycle. The prosthesis leg swing speed was regulated by a needle valve whose orifice opening was adjusted by a permanent magnet linear step motor.
RESULTS AND CONCLUSION: While the speed was changed, the knee angle of prosthesis also slightly changed. Maximum value did not exceed 80°. Prosthetic gait change was less than 11°. Amputees could adapt to different walking speeds. The gait changes between the two legs were basically the same and the symmetry index was more than 90%. The experiments showed that the gait cycle can control the needle valve to achieve the adjustment of pace. The control method for walking speed adjustment is feasible.

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