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Establishment method, model-free control method and verification method for ankle joint prosthesis model

A control method and ankle joint technology, applied in adaptive control, general control system, control/regulation system, etc., can solve problems such as the accuracy of the prosthesis model, and achieve the effect of simplifying the calculation process

Active Publication Date: 2020-07-10
国家康复辅具研究中心秦皇岛研究院
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Problems solved by technology

[0003] Therefore, the technical problem to be solved by the present invention is to overcome the defect in the prior art that it is impossible to determine whether the established prosthetic model is accurate, thereby providing a method for establishing an ankle prosthetic model, a model-free control method and a verification method

Method used

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  • Establishment method, model-free control method and verification method for ankle joint prosthesis model
  • Establishment method, model-free control method and verification method for ankle joint prosthesis model
  • Establishment method, model-free control method and verification method for ankle joint prosthesis model

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Embodiment 1

[0037] This embodiment provides a method for establishing a dynamic linearized model of an ankle prosthesis, which is applied to the establishment of an ankle prosthesis model in the field of prosthesis control, without establishing a mechanical model of the ankle prosthesis, such as figure 1 As shown, the method includes:

[0038] S11, establishing an ankle joint prosthesis model based on the target algorithm, where the ankle joint prosthesis model is a continuous system function.

[0039] Exemplarily, the target algorithm is a dynamic analysis method for establishing an ankle prosthesis model, which may be a Lagrangian dynamic analysis method. The target algorithm is not limited here, and those skilled in the art can determine it according to actual needs. Taking the Lagrangian dynamic analysis method as the target algorithm as an example, the ankle prosthetic model is established. The model is a continuous system function, which can be expressed as:

[0040]

[0041] Am...

Embodiment 2

[0055] This embodiment provides a model-free control method for an ankle prosthesis, which is applied to control the establishment of an ankle prosthesis model, and can implicitly use the model or model structure information of the ankle prosthesis system without explicitly using the ankle prosthesis directly mechanical model information. Such as figure 2 As shown, the method includes:

[0056] S21. Determine a control input criterion function.

[0057] As an example, since minimizing the one-step forward forecast error criterion function may produce excessive control input, and minimizing the weighted one-step forward forecast error criterion function may produce a steady-state tracking error, consider the above-mentioned minimizing one-step For the problems existing in the forward forecast error criterion function and the minimized weighted one-step forward forecast error criterion function, the following control input criterion function can be adopted:

[0058] J(u(k))=...

Embodiment 3

[0124] This embodiment provides a method for verifying the control of the ankle prosthesis, which is applied to verify the control of the ankle prosthesis model, such as Figure 4 As shown, the method includes:

[0125] S31, building models of various parts of the human body based on the SolidWorks software.

[0126] Exemplarily, the SolidWorks software is used to build and assemble models of various parts of the human body with reference to national standards.

[0127] S32, setting relevant parameters of each part model of the human body based on the Adams software, and adding constraint pairs and driving pairs to the model of each part of the human body.

[0128] Exemplarily, the constructed human body model is imported into the Adams software, and the model parameters of each part of the human body are set. In the Adams software, the degrees of freedom of each part of the model are set by a constraint module (Joint module). This embodiment is aimed at the movement of the lo...

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Abstract

The invention discloses an establishment method, a model-free control method and a verification method for a dynamic linearized model of an ankle joint prosthesis. The model-free control method of thedynamic linearized model of the ankle joint prosthesis comprises the following steps: determining a control input criterion function; carrying out calculating according to the control input criterionfunction and the dynamic linearization model to obtain a first control function; determining a second control function according to the dynamic linearization model and a target control expression function; and determining a model-free control expression function for controlling the ankle joint prosthesis according to the first control function and the second control function, and controlling theankle joint prosthesis model according to the model-free control expression function. According to the method, specific mechanical structure design is avoided, dependence on a mechanical model is reduced, and the defect that control is affected due to the fact that an ankle joint prosthesis model is established complexly and the model is inaccurate is overcome.

Description

technical field [0001] The invention relates to the technical field of prosthesis control, in particular to a method for establishing an ankle prosthesis model, a model-free control method and a verification method. Background technique [0002] Most of the ankle prostheses currently on the market for people with lower extremity disabilities are divided into passive and active. The passive ankle joint prosthesis is simple in structure and low in cost. It mainly uses the mechanical structure of the prosthesis and various energy storage components to realize walking. However, the passive prosthesis cannot directly generate mechanical power, and the ankle joint muscles will The push-off phase provides direct propulsion, so people with lower limb disabilities need to consume more energy when wearing such ankle prostheses. Although the active ankle prosthesis can obtain the human body's motion intention through physiological electromyographic signals or physical motion informati...

Claims

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Application Information

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IPC IPC(8): G16H40/63A61F2/68A61F2/66G05B13/04
CPCG16H40/63A61F2/68A61F2/6607G05B13/042
Inventor 宋亮姜恺宁张燕张志强王铭玥
Owner 国家康复辅具研究中心秦皇岛研究院
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