Research Of Motion Control Of The Lower Limbs Of Experimental Platform Of Two Degree Of Freedom

In recent years, as country and social paying more and more attention todisabled people’s quality of life,the cause of national rehabilitation get strongdevelopment.The reserach of intelligent prosthesis obtained fast development.Moreand more research institution are devoting to the researching of intelligentprosthesis.In the process of researching,researchers need to evaluate the performanceof the artificial limb.Now the common way is that the disabled of losing lower limbwear,and according to their feelings of wearing for judgment,this way have aproblem，and not able to make an accurate evaluation for the prosthesis.In order tomore objectively reflect the performance of the artificial limb,we need to seek a moreobjective method.So the experimental platform of double lower limbs is produced,andthere are close relationship between the motion of platform，s stability and theaccuracy of the evaluation for prosthesis.In this paper, we do a series of research for the platform of the gait,in order tosolving the question that we meet,we do deeply analysis and put forward thesolution.In this paper,we have analyzed the characteristics of human body in theprocess of walking, collected data of the knee，s angle and hip，angle,and inputed it tothe platform,so as to achieving the purpose of imitation human gait.In the platform,we maked the Googol motion controller as the control core,and maked four servomotors to instead of human lower limb，four joint such as left hip, left knee, righthip,right knee, and in the VC environment,through the writing a program to makemotor accsimulating the movement of knee and hip accurately.In this paper,the dadaof datadifferent steps are generated by determining amplitude coefficient. In theprocess of platform，motion, platfrom often have appeared jitter, in view of thisproblem we have done a detail analysis, and put forward the solution.