Design And Research Of A Control Platform Of Two Degrees Of Freedom

Nowadays, with the developing of the national rehabilitation auxiliary business, substantial human and material are invested by more and more scientific research institutions to start prosthesis researching. In the developing process of the intelligent prosthesis, it needs to test its performance evaluation. Now the popular method is that through the amputee wearing the above knee prosthesis and estimating it by themselves. This method is obviously of great subjectivity. It can not be very accurate evaluation of prosthetic. So if we want to know the performance of the prosthesis objectively, we must find an objective method.This platform is mainly used on the testing of the prosthesis. The main contents are as follows:Analyze the human physiological structure and static knee and lower limb movement. To future simulate the movement of the human lower limb lay the foundation. Use Solidwork2007 design the mechanical structure of the prosthetic experimental platform. Testing platform to make the parameters of large legs and feet GB10000-88 Chinese adults with reference to the body size of 18-60 age group of 50 percentile design of the body parameters. Facilitate the testing of fixed prostheses in the testing platform, and achieve the same effect as people with disabilities wear the prosthetic.Collect the knee and hip joint of the human lower limb when walking, and then process these signals with filtering. Take these signals as input signals to control the motors. Ultimately achieve the purpose of human gait simulation.This system used the Googol motion controller as the control core, programmed in VC environment to control four motors simulate the human hip joint angle and knee joint angle, Ultimately achieve the purpose of human gait simulation. Motor fitted absolute position feedback encoder, when the motor moving, the encoder could feedback the real position of the motor axes. Then turn the position signal into the angle signal to compare with the input signal, so we can know the running status of the system.In the actual prototype, add variety of the sensors as a detection system to feedback some signals of the above knee prosthesis. Estimate the performance of the prosthesis objectively; improve the inadequacies of the prosthesis, to achieve the purpose of optimal control.