下肢步态矫形器轨迹控制设计*

作者：陶泽勇，沈林勇，钱晋武 日期：2009-06-17/span> 浏览：3333 查看PDF文档

下肢步态矫形器轨迹控制设计*

陶泽勇，沈林勇，钱晋武
（上海大学 机电工程与自动化学院，上海 200072）

摘要：为了模拟正常人的行走步态，设计了具有外骨骼结构的动力步态矫形器。采用LabVIEW软件和多功能数据采集卡以及交流伺服平台，完成了下肢步态矫形器步态轨迹的半闭环控制，同时介绍了步态生成方法以及软件的设计。研究结果表明，步态矫形器能够较好地复原正常人的行走步态，并已应用到下肢康复机器人的控制系统中。
关键词：步态矫形器；伺服电机；虚拟仪器平台
中图分类号：TP24文献标识码：A文章编号：1001-4551(2009)05-0001-03

Gait trajectory control design of powered gait othosis
TAO Zeyong, SHEN Linyong, QIAN Jinwu
（School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200072, China）
Abstract: In order to simulate the gait of normal people, an exoskeleton powered gait orthosis was designed. Based on LabVIEW, NI DAQmx and AC servo platform, the halfclosed control of the gait trajectory for powered gait orthosis was realized. The method for gait generating and software design were also presented. The result shows that the gait orthosis can reproduce the gait of normal people, which is already used in the control system of lower limb assistant.
Key words: powered gait orthosis(PGO); servo motor; LabVIEW
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