主动踝足矫形器的控制算法:自适应导纳控制

Joseph Tsongo Vughuma, O. Verlinden
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引用次数: 1

摘要

目前大多数假肢和矫形器使用物理弹簧和阻尼器,并采用各种控制策略来复制正常踝关节在步态中的顺应行为。弹簧,阻尼器和控制策略通常是针对单个患者和固定的步态速度进行调整的,不允许适应另一个患者或另一个步态速度。在这项工作中,我们提出了一种克服这些适应问题的控制策略。该算法基于导纳控制,通过复制踝关节转角曲线来辅助平地步态。这种控制的特殊性来自于物理弹簧被机电弹簧取代的事实。它主要使用力和位置传感器来复制物理弹簧的行为。由于使用了机电弹簧,矫形器和控制策略可以很容易地适应任何个体,并且可以适应任何步态速度。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Control Algorithm for an Active Ankle-Foot Orthosis (AAFOs): Adaptative Admittance Control
Most of current prostheses and orthoses use physical springs and dampers with various control strategies to replicate the compliant behavior of a normal ankle during the gait. The springs, dampers and the control strategies are usually tuned for a single patient and for a fixed gait speed which does not allow adaptation to another patient or another gait speed. In this work, we propose a control strategy that overcomes those adaptation problems. The algorithm is based on an admittance control and replicates the ankle torque-angle curve to assist level-ground gait. The particularity of this control comes from the fact that the physical spring is replaced by a mechatronic spring. It uses principally force and position sensors in order to replicate the behavior of a physical spring. Thanks to the use of a mechatronic spring, the orthosis and the control strategy can easily be adapted to any individual and can adapt themselves to any gait speed.
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