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首页> 外文期刊>IEEE Transactions on Automatic Control >Optimal control of ankle joint moment: toward unsupported standingin paraplegia
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Optimal control of ankle joint moment: toward unsupported standingin paraplegia

机译：踝关节力矩的最佳控制：朝向无支撑的站立瘫痪

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摘要

This paper considers part of the problem of how to provide unsupported standing for paraplegics by feedback control. In this work our overall objective is to stabilize the subject by stimulation only of his ankle joints while the other joints are braced. We investigate the problem of ankle joint moment control. The ankle plantarflexion muscles are first identified with pseudorandom binary sequence signals, periodic sinusoidal signals, and twitches. The muscle is modeled in Hammerstein form as a static recruitment nonlinearity followed by a linear transfer function. A linear-quadratic-Gaussian (LQG)-optimal controller design procedure for ankle joint moment was proposed based on the polynomial equation formulation. The approach was verified by experiments in the special Wobbler apparatus with a neurologically intact subject, and these experimental results are reported
机译：本文考虑了如何通过反馈控制为截瘫患者提供不受支持的站立状态的问题的一部分。在这项工作中，我们的总体目标是通过仅刺激他的踝关节而支撑其他关节来稳定受试者。我们研究了踝关节力矩控制的问题。首先用伪随机二进制序列信号，周期性正弦信号和抽搐来识别踝plant屈肌。肌肉以Hammerstein形式建模为静态补充非线性，然后是线性传递函数。基于多项式方程，提出了一种踝关节力矩的线性二次高斯（LQG）最优控制器设计程序。通过在特殊的Wobbler装置中对神经完整的受试者进行实验验证了该方法，并报告了这些实验结果

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