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Method for controlling adaptive iterative learning of knee joints of lower prostheses

An adaptive iterative and learning control technology, applied in prosthetics, medical science, etc., can solve problems such as poor real-time performance, and achieve the effect of reducing tracking error and good tracking performance

Active Publication Date: 2014-04-30
HANGZHOU DIANZI UNIV
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Problems solved by technology

Due to the use of BP neural network controller in this FEL control method, the real-time performance of its practical application is poor.

Method used

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  • Method for controlling adaptive iterative learning of knee joints of lower prostheses
  • Method for controlling adaptive iterative learning of knee joints of lower prostheses
  • Method for controlling adaptive iterative learning of knee joints of lower prostheses

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Embodiment Construction

[0033] In order to make the objectives, technical solutions, and advantages of the present invention more clearly expressed, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0034] The main idea of ​​the present invention is to take into account that the human prosthetic system has complex system factors such as model nonlinearity and parameter uncertainty, design an adaptive iterative learning controller for its collection control research, and use the Lyapunov function to prove the stability and tracking error Convergence. Taking the established dynamic model of the artificial leg experimental prototype as the object, the designed controller is simulated.

[0035] Step 1: The normal gait characteristics of the human body can be divided into two stages, namely the support period and the swing period, which are summarized as follows:

[0036] At the end of the support stage, the largest vertical l...

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Abstract

The invention discloses a method for controlling movement of knee joints of lower prostheses of human bodies, and particularly relates to a method for controlling adaptive iterative learning when human bodies with double-rigid-body and two-degrees-of-freedom lower prostheses walk on flat grounds. The method includes firstly, analyzing normal gait features of the human bodies and control requirements of the lower prostheses of the human bodies; secondly, kinetically analyzing the normal gait features of the human bodies and the control requirements of the lower prostheses of the human bodies by the aid of Newton-Euler algorithms and building a movement system model of the double-rigidity-body and two-degrees-of-freedom lower prostheses; thirdly, applying an algorithm for controlling adaptive iterative learning to the movement system model. Flow of the algorithm for controlling adaptive iterative learning includes describing problems; analyzing convergence; solving the boundedness of a first expression; solving the progressive increase property of a second expression; solving the progressive increase property of the first expression. The method has the advantages that knee joint movement tracking errors can be stably reduced within a certain time, and accordingly an excellent tracking effect can be realized.

Description

Technical field [0001] The invention relates to a method for controlling the movement of a human lower limb prosthesis, in particular to a method for adaptive iterative learning control when the lower limb prosthesis with two rigid bodies and two degrees of freedom is walking on the ground. Background technique [0002] The biomechanical system composed of the human skeletal muscle system has a strong adaptive ability to walking. The main functional components of the lower limb prosthesis are the knee joint and the foot, and the prosthetic knee joint is the most important. A good prosthetic knee joint can ensure the stability of the patient during the support period (from the heel touch to the toe off the ground) and the flexibility during the swing period (from the toe off the ground to the heel touch on the ground), and walk naturally , And make the patient have a good gait, but also the determinant of the entire prosthetic performance and life. [0003] However, in the control...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61F2/70
Inventor 马玉良马云鹏孟明佘青山高云园
Owner HANGZHOU DIANZI UNIV
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