中国组织工程研究

中国组织工程研究 ›› 2012, Vol. 16 ›› Issue (26): 4756-4759.doi: 10.3969/j.issn.1673-8225.2012.26.002

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

基于有限状态机的智能下肢假肢控制

王 蒙，陈玲玲，耿艳利，杨 鹏   

  1. 河北工业大学控制科学与工程学院，天津市 300130
  • 收稿日期:2011-11-18 修回日期:2011-12-06 出版日期:2012-06-24 发布日期:2013-11-02
  • 通讯作者: 陈玲玲，博士，讲师，河北工业大学控制科学与工程学院，天津市 300130 oulanling@126.com
  • 作者简介:王蒙★，男，1987年生，山东省泰安人，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的研究。
  • 基金资助:

    国家科技支撑计划(2009BAI71B04)；河北省自然科学基金(F2011202155)

Control of intelligent lower limb prosthesis based on finite-state machine

Wang Meng, Chen Ling-ling, Geng Yan-li, Yang Peng   

  1. School of Control Science and Engineering, Hebei University of Technology, Tianjin 300130, China
  • Received:2011-11-18 Revised:2011-12-06 Online:2012-06-24 Published:2013-11-02
  • Contact: Chen Ling-ling, Doctor, Lecturer, School of Control Science and Engineering, Hebei University of Technology, Tianjin 300130, China oulanling@126.com

PDF

433

被引次数

9

摘要：

背景：传统的下肢假肢行走状态改变时膝关节阻尼不能随之改变，假肢跟随性差，变化范围小。
目的：基于有限状态机的智能下肢假肢控制方法，实现假肢侧对健肢侧的实时跟踪和步速跟随。
方法：智能下肢假肢采用带固定式气缸阻尼器的四连杆机构，采用有限状态机的控制方法，感知当前的步态事件，触发步态状态的转变，调整对应的步态模式，得到步态规划的输出动作。
结果与结论：实验结果表明，智能下肢假肢能够进行步速识别和步态识别，控制器输出不同的控制策略，控制步进电机调整膝关节阻尼的大小，假肢侧能够对健肢侧进行实时跟踪和步速跟随。

关键词: 智能下肢假肢, 有限状态机, 步态规划, 步速跟随, 步态模式

Abstract:

BACKGROUND: The knee damping of traditional lower limb prosthesis cannot be changed when the walking state is changing. Traditional prosthesis with limited operating range cannot follow the sound leg.
OBJECTIVE: To achieve real-time tracking and pace following of limb prosthesis to healthy limb based on the control of intelligent lower limb prosthesis by finite-state machine.
METHODS: The intelligent lower limb prosthesis adopted a four-bar linkage with a fixed pneumatic cylinder, and finite-state machine controlling method was in use. It sensed the current gait event, triggered the gait transition state, and adjusted the gait patterns to get the export action of the gait planning.
RESULTS AND CONCLUSION: The results showed that the intelligent lower limb prosthesis could identify the gait and the walking speed. Different controlling strategies could be exported from the controller, and it controlled the stepper motor to adjust the size of the knee damping. The prosthetic limb side could track the health limb side on real time and follow the walking speed.

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