步态跟随式仿生智能假腿的动力学与控制方法研究

项目名称： 步态跟随式仿生智能假腿的动力学与控制方法研究

项目编号： No.61473193

项目类型： 面上项目

立项/批准年度： 2015

项目学科： 自动化学科

项目作者： 喻洪流

作者单位： 上海理工大学

项目金额： 82万元

中文摘要： 自适应患者个性化参数的步态对称性控制是仿生智能假腿的一项关键技术。本项目将对一种跟随健侧腿步态的新型液压仿生智能假腿进行理论与实验研究。在研究膝关节仿生结构的基础上，建立其阻尼控制参数与运动参数之间直接耦合关系的非线性动力学模型，并获得基于此模型对象的、具有患者参数自适应性与摆动步态对称性的智能控制方法。由于假腿传统上基于拉格朗日方程的一般动力学模型不能描述智能假腿关键的膝关节阻尼特性，难以适用于步态跟随的控制研究，需要建立相适应的动力学模型。此外，模型的非线性、假肢穿戴者参数的不确定性以及控制的多任务、冗余性等特点决定了智能假腿的复杂系统特性，需要在理论上寻求有效的智能控制方法。本项目将通过研究智能假腿的步态跟随仿生结构、动力学特性以及具有参数实时适应性能的智能控制机理，阐明仿生智能假腿摆动步态跟随控制的关键动力学建模与控制机理，为高性能智能假腿的研制建立具有应用价值的基础理论与方法。

中文关键词： 假腿；动力学；智能控制；仿生结构；步态

英文摘要： The gait symmetry of swinging phase with self-adaptation to the personnalized parameters of patients is a key technology for bionic human intelligent prosthetic leg(IPL). The project is to study in depth on a type of hydraulic IPL following the gait of healthy side in theory and experiment. The control method of swing phase gait symmetry and self-adaptation to patient parameters will be established.Based on study of the bionic structure and principle of knee joint,a nonlinear dynamics model describing the the direct coupling relationship between the damping control parameters of bionic knee joint and the motion parameters of IPL will be set up , For a traditional kinetic model based on the Lagrange equation can not describe the key damping characteristics of knee joint in IPL, therefore it is not suitable for the gait-following control research and an appropriate type of dynamics model needs to be established. Aditionally, the IPL is a complex system determined by the characteristics of the nonlinearity in dynamics model,the parameter uncertainty of prosthesis wearer,and the multiple tasks and redundancy in control, so a nonlinear model in theory need to be built so as to seek more effective method of intelligent control for it. Through the study of the gait-following structure and dynamics model of IPL,this project will elucidate the key mechanism of dynamics modeling and gait-following control in swing-phase so as to establish the basic theory and method for the high performance IPL with application value.

英文关键词： Prosthetic Leg;Dynamics;Intelligent Control;Bionic Structure;Gait