本文選題：力矩控制 + 直立擾動　； 參考：《華中科技大學(xué)學(xué)報(自然科學(xué)版)》2017年10期

【摘要】：為了解決人體直立擾動平衡過程中踝關(guān)節(jié)力矩的控制問題,提出一種基于肌電信號的肌肉反射模型和基于踝關(guān)節(jié)角度及角速度信息的比例微分環(huán)節(jié)反饋力矩控制模型,對人體控制機理做初步闡釋.實驗者站于測力平臺上,受施加于背部的微小沖擊,保持膝、髖關(guān)節(jié)不彎曲,僅通過踝關(guān)節(jié)轉(zhuǎn)動維持站立穩(wěn)定.通過慣性測量單元、肌電儀及測力平臺獲取運動學(xué)及動力學(xué)信息.采用數(shù)據(jù)擬合獲取模型參數(shù),結(jié)果表明模型預(yù)測結(jié)果與實驗測量數(shù)據(jù)相符.
[Abstract]:In order to solve the problem of ankle torque control in the process of human vertical disturbance balance, a muscle reflection model based on EMG signal and a proportional differential feedback torque control model based on angle and angular velocity information of ankle joint are proposed. The mechanism of human body control is preliminarily explained. The experimenter stood on the force-measuring platform and was subjected to a small impact on the back, keeping the knee and hip unbent and standing steadily only through the rotation of the ankle. The kinematics and dynamics information is obtained by inertial measuring unit, myoelectric instrument and force measuring platform. The model parameters are obtained by data fitting, and the results show that the model prediction results are in agreement with the experimental data.
【作者單位】： 武漢理工大學(xué)自動化學(xué)院;中國科學(xué)院合肥智能機械研究所;
【基金】：國家自然科學(xué)基金資助項目(61603284) 武漢理工大學(xué)青年教師創(chuàng)新基金資助項目(20410756,20410832)
【分類號】：R318
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本文編號：1876018