| 评价指标体系下的外骨骼支撑相控制效果 |
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| 引用本文： | 陈建华,穆希辉,杜峰坡,何翼,崔东华. 评价指标体系下的外骨骼支撑相控制效果[J]. 科技导报(北京), 2019, 37(13): 88-92. DOI: 10.3981/j.issn.1000-7857.2019.13.013 |
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| 作者姓名： | 陈建华 穆希辉 杜峰坡 何翼 崔东华 |
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| 作者单位： | 海军研究院,北京,102401;陆军研究院,石家庄,050000 |
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| 基金项目： | 军队重点科研项目（01060603） |
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| 摘 要： | 针对一种下肢外骨骼机器人，设计了一种基于步态识别的阻抗自调整控制方法，并通过实验验证，与传统的位置控制、阻抗恒定控制方法进行了对比分析。通过建立一套基于雷达图的指标体系，对不同的外骨骼支撑相控制实验结果进行了科学评价，发现阻抗自调整控制能够保证外骨骼在支撑相不同阶段满足不同的运动需求，与传统阻抗控制方法相比具有最优的总体运动效果。
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| 关 键 词： | 指标体系 外骨骼 支撑相 控制效果 |
| 收稿时间： | 2019-02-14 |
Study on control effect of exoskeleton during support phase through an evaluation indicator system |
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| CHEN Jianhua,MU Xihui,DU Fengpo,HE Yi,CUI Donghua. Study on control effect of exoskeleton during support phase through an evaluation indicator system[J]. Science & Technology Review, 2019, 37(13): 88-92. DOI: 10.3981/j.issn.1000-7857.2019.13.013 |
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| Authors: | CHEN Jianhua MU Xihui DU Fengpo HE Yi CUI Donghua |
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| Affiliation: | 1. Naval Research Academy, Beijing 102401, China;
2. Army Research Academy, Shijiazhuang 050000, China |
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| Abstract: | To improve the lower limb exoskeleton moving effect, an impedance self-adjusted control method by gait classification for support phase is presented, and a comparative analysis between traditional position control method and constant impedance control methods and the impedance self-adjusted control method is experimentally conducted by setting up an indicator system based on radar maps and evaluating the moving effects of different control methods during the support phase. Results show that the impedance self-adjusted control method can meet different sports needs at different stages of the supporting phase, which has optimal overall motion effect compared with the traditional impedance control method. |
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| Keywords: | indicator system exoskeleton support phase control effect |
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