电动两自由度往复式步态矫形器的计算机控制

Computer control of a powered two degree freedom reciprocating gait orthosis.

作者信息

Nouri Bashir M Y, Zaidan Arafat

机构信息

Department of Mechanical Engineering, Faculty of Engineering, An-Najah National University, Nablus, West Bank, Palestine.

出版信息

ISA Trans. 2006 Apr;45(2):249-58. doi: 10.1016/s0019-0578(07)60193-1.

DOI:10.1016/s0019-0578(07)60193-1

PMID:16649569

Abstract

The design of a motion control system for a powered reciprocating gait orthosis is considered. Models for the orthosis are obtained using least squares identification. The control system design is based on pole-placement techniques and a restricted Youla parametrization of the controller. Experimental results are included.

摘要

考虑了一种用于动力往复式步态矫形器的运动控制系统的设计。使用最小二乘辨识获得了矫形器的模型。控制系统设计基于极点配置技术和控制器的受限尤拉参数化。文中包含了实验结果。