摘要:针对截肢者佩带传统假肢行走时步态极其不自然,不能随意的跟随截肢者步行速度的变化而变化等问题。本文提出一种采用伺服驱动系统控制人工腿的一种设计方案。具体方法:通过脚底压力传感器采集步态周期信息,根据不同开度下周期的不同变化采用模糊控制的方法来调整针阀开度的大小,永磁式直流伺服电机作为执行器驱动针阀来控制缓冲气缸腔室间气道有效截面积来调整假肢摆动速度。实验结果表明:这种设计方案能够实时控制假肢的摆动,可自然、随意地跟随截肢者步行速度的变化而变化。
关键词:截肢者;伺服驱动系统;针阀;步速 Abstract: Aimed at the problem of the amputee wearing traditional prosthetic gait is not natural and don′t change the amputee′s walking speed arbitrarily. Therefore, introduced a design that the servo drive system was used to control the artificial leg. The specific method is that using the pressure sensor under the foot to collect the information of the gait cycle, using the method of fuzzy control algorithm to adjust the opening size of valve, using the DC servo motor to drive the needle valve and control the effective cross section,the aim at adjusting the waving speed of the artificial limb. The experiment indicates this design can control the speed of the artificial limb timely, and be able to exchange the speed,which is following the amputee′s speed.
Key words: amputee;servo drive system;needle valve;speed of walk
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