论文部分内容阅读
首先介绍 FNS系统的构成及工作原理 ,针对肢体肌肉的非线性时变性 ,建立了带反馈控制器的迭代学习控制算法 ,即复合控制器。最后利用 FNS肢体运动控制平台 ,采用复合控制算法 ,对人体曲肘和曲腕运动时的关节运动 (角位移 )轨迹进行了临床实验研究。结果表明 ,采用该算法 ,不仅改善了 FNS系统的跟踪性能 ,而且肢体运动轨迹稳定、平滑 ,受试者无任何不良生理反应 ,具有较强的自适应性。
Firstly, the structure and working principle of FNS system are introduced. According to the nonlinear time-varying of limb muscle, an iterative learning control algorithm with feedback controller is established, namely compound controller. Finally, using the FNS limb movement control platform, the composite control algorithm was used to study the trajectories of joint movement (angular displacement) during the movement of elbow and wrist. The results show that the algorithm not only improves the tracking performance of the FNS system, but also has a stable and smooth trajectory of the limbs. The subject has no adverse physiological responses and has strong self-adaptability.