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Lower limb prosthesis coordination control method and system based on non-zero sum game

A technology of coordinated control and prosthetics, applied in reasoning methods, prosthetics, medical science, etc., can solve problems such as aggravating the cognitive burden of patients, achieve the effect of improving the wearing experience and avoiding data coupling

Pending Publication Date: 2022-07-29
合肥综合性国家科学中心人工智能研究院
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The above-mentioned human-computer interaction control methods deal with the physical interaction between humans and robots, usually defaulting to the fact that humans have better cognitive abilities, and robots obey human movements through impedance control or improved control methods based on impedance control, which will aggravate the patient's cognitive ability. knowledge burden

Method used

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  • Lower limb prosthesis coordination control method and system based on non-zero sum game
  • Lower limb prosthesis coordination control method and system based on non-zero sum game
  • Lower limb prosthesis coordination control method and system based on non-zero sum game

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Embodiment 1

[0074] like Figure 4 , the present invention provides a non-zero-sum game-based human-lower limb prosthetic coordination control method, comprising the following steps:

[0075] Step S1: Based on a series of gait data collected in multiple groups of normal walking experiments, design a set of hip, knee, and ankle joint angle trajectories that are most in line with normal gait, and obtain the desired hip joint trajectory of the lower limb on the residual limb side, and the lower limb. Preset desired trajectories of the knee and ankle joints of the prosthetic robot;

[0076] Step S2: When the unilateral amputee walks wearing the lower limb prosthesis, the IMU sensor is used to record the hip joint angle of the amputee, the joint angles of the unaffected leg knee and ankle joints in real time, and obtain the unaffected leg knee and ankle through forward kinematics calculation. The trajectory of the joint in the Cartesian space, the trajectory of the half gait cycle of the lag t...

Embodiment 2

[0112] Embodiment 2 is a preferred example of Embodiment 1.

[0113] Since the actual angle of the hip joint is offset from the expected angle, when the angles of the knee and ankle joints remain unchanged, the position of the center of gravity of the calf and foot will be offset by a certain distance with the change of the hip joint angle, respectively. There is a spring between the original center of gravity and the current center of gravity of the two. When the current center of gravity does not coincide with the original center of gravity, it will receive the elastic force of the corresponding spring, and the total interaction force of the human on the calf and foot is regarded as The force that deforms the spring, while the virtual human-computer interaction force f v It is designed to be the component force of equal and opposite direction of the spring force in the direction perpendicular to the calf leg bar and perpendicular to the line connecting the ankle joint to the...

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Abstract

The invention provides an artificial lower limb coordination control method and system based on a non-zero sum game. The method comprises the steps that firstly, expected tracks or preset expected tracks of all joints are designed through multiple sets of gait data; secondly, real tracks of all joints are obtained through sensor data, joint track errors are calculated, virtual interaction force between a person and the artificial limb is designed based on the hip joint track errors, and an impedance model of the lower artificial limb can be obtained through the interaction force and machine input; and finally, a self-adaptive controller is designed to output control torque to control the robot. According to the control method provided by the invention, when the patient wears the lower limb prosthesis to walk, smoother and more efficient control can be realized, and the wearing experience of the patient is improved.

Description

technical field [0001] The invention relates to the technical field of intelligent control of intelligent robots, in particular, to a method and system for coordination control of lower limb prosthesis based on non-zero-sum game. Background technique [0002] In the past few decades, lower-limb prosthetic robots have played an increasingly important role in the field of medical rehabilitation, and have attracted extensive research interests from scholars at home and abroad. In unilateral amputees, their gait is slow and unbalanced, which is more energy-intensive than normal gait and puts them at risk of falls. In addition, patients with lower extremity amputees often experience compensatory changes in gait, biomechanics, and muscle activation patterns that may lead to further complications such as osteoarthritis, osteoporosis, and back pain. Finally, it can cause patients to lose confidence and have difficulty integrating into society. Therefore, lower limb prosthetic robo...

Claims

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Application Information

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IPC IPC(8): A61F2/60A61F2/64A61F2/66A61F2/70A61B5/11A61B5/00G06N5/04G06F17/16
CPCA61F2/60A61F2/64A61F2/66A61F2/6607A61F2/68A61B5/1122A61B5/112A61B5/6811G06N5/042G06F17/16A61F2002/607A61F2002/608A61F2002/6614A61F2002/701A61F2002/704
Inventor 李智军吕航李国欣
Owner 合肥综合性国家科学中心人工智能研究院
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