| 一种用于假腿的变结构智能控制器设计 |
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| 引用本文： | 喻洪流,钱省三,李守伟,关慎远. 一种用于假腿的变结构智能控制器设计[J]. 上海理工大学学报, 2008, 30(2): 116-120 |
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| 作者姓名： | 喻洪流 钱省三 李守伟 关慎远 |
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| 作者单位： | 上海理工大学,医疗器械与食品学院,上海,200093;上海理工大学,管理学院,上海,200093;江苏大学,工商管理学院,镇江,212013 |
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| 基金项目： | 上海市教委资助项目 , 上海市重点学科建设项目 |
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| 摘 要： | 针对智能假腿对不同步行模式(如上坡、下坡/楼梯、平地行走等)的力矩进行实时跟踪控制的需要,提出了一种新型变结构的小脑模型神经网络控制器(CMAC).CMAC利用一种随机重连学习算法对CMAC的输入模式进行遍历,其结构自组织到一个相对稳定状态.研究结果表明,在该状态下神经元上的输入连接不均匀分布,其度分布服从幂律分布,从而起到了优化CMAC结构的作用.这种变结构CMAC可以改善智能假腿适应步态变化的跟踪效果.
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| 关 键 词： | CMAC 假肢膝关节 LMS算法 随机重连 结构优化 |
| 文章编号： | 1007-6735(2008)02-0116-05 |
| 修稿时间： | 2007-03-29 |
Design of intelligent prosthetic leg controller with variable structure |
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| YU Hong-liu,QIAN Xing-san,LI Shou-wei,GUAN Shen-yuan. Design of intelligent prosthetic leg controller with variable structure[J]. Journal of University of Shanghai For Science and Technology, 2008, 30(2): 116-120 |
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| Authors: | YU Hong-liu QIAN Xing-san LI Shou-wei GUAN Shen-yuan |
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| Abstract: | To meet the requirement of intelligent prosthetic leg control to fast follow the knee torque in different walking modes,a new cerebellar model articulation controller(CMAC)with variable struc- ture was designed.The structure of CMAC can be self-organized to a relatively stable status by utiliz- ing RRC learning algorithm to sufficiently search to connect the inputs of CMAC.The simulation re- sult indicates that the input connections in this status are unevenly distributed and follow power-law distribution so as to play a role of optimizing CMAC structure.The designed CMAC can significantly improve the quality of gait-following for intelligent prosthetic legs. |
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| Keywords: | CMAC prosthetic knee LMS algorithm random re-connection structure optimization |
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