适应复杂环境的主动型假肢建模与平稳控制机理研究

项目名称： 适应复杂环境的主动型假肢建模与平稳控制机理研究

项目编号： No.61203323

项目类型： 青年科学基金项目

立项/批准年度： 2013

项目学科： 自动化学科

项目作者： 张燕

作者单位： 河北工业大学

项目金额： 24万元

中文摘要： 本项目针对主动型假肢在使用过程中存在的步态不平稳问题，研究复杂环境下人体运动状态发生改变时，使用者运动意图建模及假肢平稳控制。研究内容主要包括：根据人体运动信息，采用快速正交搜索法研究人体运动意图建模新思路，并建立相应数据库；提出改进型神经网络（结构、学习算法）等，实现在不同步速、不同路况下，假肢使用者步态平稳控制增益选取规则；根据运动意图模型的输入输出受约束问题，实行分段划分，根据状态所处的不同稳定椭圆域确定其对应的控制约束，设计离线型预测控制器，使得预测控制的主要计算都离线完成，在线不涉及优化问题，实现人机交互的主动型假肢平稳控制。 通过对主动型假肢关键技术的研究，为发展面向应用的智能假肢系统，提供必要的理论依据、实验数据。随着相关技术不断发展完善，将主动型假肢技术转化为产品，这将对于提高截肢者的生活质量，具有积极的学术意义和重要的实际意义。

中文关键词： 人机交互；步态识别；主动型假肢；自抗扰控制；智能算法

英文摘要： In order to overcome the drawbacks of unsteady gait during walking, a strategy of identifying and steady control for powered prosthesis users in a complex environment is proposed in this project. The main contents are as follows: A novel thought about the judgment of human motion intention based on the fast orthogonal search method is proposed by use of the motion signals. Then a motion intent database is constructed. From the point of view that the amputees and the prosthesis constitute a man-machine system, based on the improved neural networks (networks' structure, networks' learning algorithm), the rules of choosing a suitable control gain to improve the steady of prosthesis users during walking in different speeds and on different terrains or paths are discussed preliminarily. For this man-machine system with the input and output constraints, a nonlinear predictive control algorithm based on piecewise function is proposed. The corresponding control constraints are determined according to the elliptical stability domain where the current states are lying in. By offline designing the piecewise predictive control law and online implementing the appropriate predictive control law, the online computational efficiency is improved greatly. These works provide the necessary theoretical basis and experimental dat

英文关键词： Man-machine system；Gait recognition；Active prosthesis；Disturbance rejection control；Intelligent algorithm