膝关节运动角度分析及S曲线控制策略研究

Motion analysis and S curve control strategy of human knee joint

为了获得上下楼梯过程中人体下肢步态及膝关节角度变化规律,分析了人在上下楼梯过程中运动步态,采集了运动过程中人体膝关节角度变化数据,分析了人体膝关节上下楼梯的角度曲线,获得了一个步态周期内的膝关节角度变化图。根据假肢膝关节角度变化趋势分别设计了上楼梯、下楼梯、均匀行走状态下的S型曲线控制策略。根据S型曲线控制策略,把上楼梯S型曲线分为5个时间段,下楼梯S型曲线均分为2个时间段,匀速行走S型曲线分为7个时间段,完成一个匀速行走的步态周期;通过Matlab仿真,步态控制S型曲线算法仿真结果和实际步态曲线吻合。

In order to obtain the change rules of the lower limbs gait and the knee joint angle in the process of going up and down the stairs,this paper analyzes human being’s gait when moving up and down the stairs.By collecting the data of the knee joint angle and analyzing the angle curve of knee joint during movement,the knee joint angle change graph in a gait cycle was drew.According to the changing trend of the prosthetic knee joint angle,the S-curve control strategies under the conditions of ascending stairs,descending stairs and uniform walking are designed.According to the S-curve control strategy,the upward and downward staircase S-curves are divided into two periods respectively,and the uniform walking S-curve is divided into seven periods,from which a uniform walking gait cycle is formed.Through MATLAB simulation,the simulation result of gait control S-curve algorithm is consistent with the actual gait curve.