摘要
根据肢体运动轨迹的重复特性,提出主动式踝关节假肢运动轨迹的迭代学习控制方法,解决行走过程中主动式踝关节假肢与正常肢体运动轨迹的差异性。在设计主动式踝关节假肢的结构并建立其数学模型基础上,通过Matlab/Sinmulink进行仿真,其结果表明该方法能够使假肢快速跟踪期望运动轨迹,达到与正常肢体运动轨迹的匹配。
According to the repetitive moving feature of legs moving trail, the iterative learning control method is proposed to solve the moving trail difference between the powered ankle prosthesis and human leg. Based on the design of the structure of the power ankle prosthesis and its mathematic model, the tools of Matlab/Simulink is used to simulate the system. The simulation results show that the method proposed in this paper is able to track the reference trail rapidly and fit the moving trail of a person＇s normal limb.
出处
《计算技术与自动化》
2008年第4期69-71,共3页
Computing Technology and Automation
