Study on the Control of Dynamic Artificial Limb Ankle Based on Central Pattern Generator_Journal of Biomedical Engineering

Authors：

GUOXin ,  XUCaiyu , LIMingyue , SULongtao

School of Control Science and Engineering, Hebei University of Technology, Tianjin 300130, China;

Corresponding author：

XUCaiyu, Email: xucaiyu1988@163.com

Keywords：

intelligent prosthesis; central pattern generator learning control; control system; moving trail

DOI：

10.7507/1001-5515.20140260

Video：

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Abstract Full text Figures/Tables Video References Cited by

In order to obtain the normal gait for the prosthesis-carrier with the change of external environment and gait, we designed a model of dynamic ankle prosthesis and control system and introduced the strategy of centralpatterngenerator (CPG) about the moving trail of dynamic ankle prosthesis. The dynamic parts, which are incorporated in the model of dynamic ankle prosthesis, provide power in order to have anthropic function and character. The tool of Matlab/simulink was used to simulate the strategy. The simulation results showed that the strategy of CPG learning control in this study was effective and could track the reference trail rapidly and fit the moving trail of a person's normal limb. It can make the prosthetic timely regulation and action, enhance the prosthetic intelligence. It has important practical value for intelligent prosthesis development based on this analysis of technology.

Citation： GUOXin, XUCaiyu, LIMingyue, SULongtao. Study on the Control of Dynamic Artificial Limb Ankle Based on Central Pattern Generator. Journal of Biomedical Engineering, 2014, 31(6): 1373-1376. doi: 10.7507/1001-5515.20140260 Copy

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1. 沈凌,喻洪流.国内外假肢的发展历程[J].中国组织工程研究,2012,16(13):2451-2454.
2. BACHE A G. The science of prosthetics and orthotics[J]. Kybernetes, 2008, 37(2):282-296.
3. 杨鹏,柏健,王欣然,等.基于有限状态机控制的智能假肢踝关节[J].中国组织工程研究,2013,17(9):1549-1554.
4. 陈静,刘洋,邱长青,等.主动式踝关节假肢运动轨迹的迭代学习控制[J].计算技术与自动化,2008,27(4):69-71.
5. 陈静,邱长青,刘洋,等.主动式踝关节假肢的位置伺服系统研究[J].武汉理工大学学报:信息与管理工程版,2009,31(2):220-222.
6. GENG Y L, PENG Y, CHEN L L. Study of the control of active transfemoral prothesis based on CPG[J]. Adv Mat Res, 2012, 468(471):1710-1713.
7. 王斐斐,张奇志,周亚丽.构成CPG的非线性振荡器模型的介绍[J].北京机械工业学院学报,2007,22(4):31-35.
8. 蔡志强,刘成菊,陈启军.基于CPG的双足机器人NAO的行走控制[J].华中科技大学学报:自然科学版,2011,39(S2):40-43.
9. 王颖,张定国.基于中枢模式发生器控制的电刺激步行康复系统设计与实验[J].中国生物医学工程学报,2012,31(4):558-565.
10. WANG T T, GUO W, LI M T, et al. CPG control for biped hopping robot in unpredictable environment[J]. J Bionic Eng, 2012, 9(1):29-38.
11. HERR H. CPG-based prostheses control[R].Master's project in Bioengineering and Biotechnology,2010.

Journal of Biomedical Engineering

Study on the Control of Dynamic Artificial Limb Ankle Based on Central Pattern Generator

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