Motion analysis and S curve control strategy of human knee joint(PDF)
《中国医学物理学杂志》[ISSN:1005-202X/CN:44-1351/R]
- Issue:
- 2020年第12期
- Page:
- 1594-1598
- Research Field:
- 其他（激光医学等）
- Publishing date:
Info
- Title:
- Motion analysis and S curve control strategy of human knee joint
- Author(s):
- DAI Quanmin; CHENG Guang; CAO Yueqi; CHEN Tianlin
- College of Urban Rail Transit and Logistics, Beijing Union University, Beijing 100101, China
- Keywords:
- knee-joint motion angular variation S-curve gait
- PACS:
- R318
- DOI:
- DOI:10.3969/j.issn.1005-202X.2020.12.023
- Abstract:
- In order to obtain the change rules of the lower limbs gait and the knee joint angle in the process of going up and down the stairs, this paper analyzes human beings gait when moving up and down the stairs. By collecting the data of the knee joint angle and analyzing the angle curve of knee joint during movement, the knee joint angle change graph in a gait cycle was drew. According to the changing trend of the prosthetic knee joint angle, the S-curve control strategies under the conditions of ascending stairs, descending stairs and uniform walking are designed. According to the S-curve control strategy, the upward and downward staircase S-curves are divided into two periods respectively, and the uniform walking S-curve is divided into seven periods, from which a uniform walking gait cycle is formed. Through MATLAB simulation, the simulation result of gait control S-curve algorithm is consistent with the actual gait curve.
Last Update: 2020-12-30