【摘要】 对可穿戴型助力机器人控制策略进行分析.根据研究目的及人体结构和功能的特殊性和复杂性,通过将人体下肢作适当简化及必要的假设,提出基于骨-肌肉功能模型的下肢助力机器人控制方法,该方法通过对骨-肌肉模型中的弹性系数和阻尼系数的调节能为人体下肢运动提供助力支持.同时,通过人-机间交互力信息实现人体下肢的运动预判.更多还原

【Abstract】 In this paper,the control strategy for the wearable power assist robot for leg(WPAL) was introduced.Considering the purpose of research,the structure complexity and the function particularity of the human body,this paper proposed a control strategy for WPAL based on an imitated bone-muscle function model through the proper simplified and indispensable hypothesis.And through adjusting the muscle function model cofficients of spring and damp,we could change the time of power assist phase,namely,change the percentage of power assist.And,through the interaction force between the user’s leg and the robot’s,the user’s movement could be judged in advance.更多还原