2results about How to "The control method is simple and convenient" patented technology

The present application belongs to the technical field of lower limb training robot, and specifically discloses a robot lower limb training method, comprising the following steps: step 1, fitting a hip joint rotation angle change curve, a center of gravity up and down position change curve and a center of gravity forward speed change curve according to gait information of a human body; step 2, using a gravity compensation PD control algorithm to control rotation of an exoskeleton motor according to the hip joint rotation angle change curve; using a PD control algorithm with weight reduction bias to control rotation of a lifting motor according to the center of gravity up and down position change curve; and using a PI control algorithm to control rotation of a bottom wheel according to the center of gravity forward speed change curve; the present application provides a robot and a lower limb training method capable of improving human-computer interaction compliance.

The invention discloses a preparation method of an upright double-metal hydroxide film on the surface of alloy steel and a product. The preparation method comprises the following steps: 1) firstly removing oily substances on the surface of alloy steel, cleaning and drying for later use; (2) adding the electro-deposition precursor solution into a three-electrode tank, taking an alloy steel substrate as a working electrode, Ag / AgCl as a reference electrode and a platinum sheet as a counter electrode, carrying out deposition by adopting a multi-potential step method, firstly applying anode potential to the surface of the steel substrate to carry out oxidation dissolution to generate corresponding metal ions, and then immediately applying cathode potential to carry out deposition; and (3) cleaning and drying the working electrode after deposition is completed, so as to obtain the lamellar double-metal hydroxide film with vertically grown lamellar layers on the surface of the aluminum-zinc-magnesium plated steel. According to the LDHs prepared by the method, film-forming metal ions do not need to be obtained from the outside, and the obtained film is vertical to the surface of a substrate in a lamellar manner, so that the limitation of film forming is greatly solved, and the production steps and raw materials are greatly simplified.