Research On Key Technology Of Human Motion Enhanced Device Based On Phase Oscillation Control

Based on the phase oscillation control,the human motion enhanced device can enhance the ability of human motion,reduce the ground reaction force generated by the human motion,and reduce the step frequency,heart rate and energy consumption of the human motion.This paper mainly studies the gait characteristics of human body,including walking,running and so on,carries on the dynamics analysis,uses the phase oscillation controller to control the human motion enhanced device,uses the simulation analysis to optimize the controller,finally develops the jet human motion enhanced device.Based on heart rate monitor,the test experiment of device performance was completed to verify that the human motion enhanced device has good human motion enhanced effect.This paper mainly do the following work:(1)To analyze the motion characteristics of the human body,based on the law of human gait,gait kinematics and dynamics analysis,it is concluded that the enhanced propulsive force produced by human motion enhanced device can release the muscle fatigue and enhance the ability of human motion.The heart rate was determined as the evaluation index of human body metabolism,which provides a theoretical basis for the design and experiment of human motion enhanced device.(2)Study the method of phase oscillation control and design the phase oscillation controller.Phase motion controller of human body is designed based on human gait characteristics.Simulation model is set up in Matlab / Simulink.Phase oscillation controller is simulated and analyzed to verify that the phase oscillation controller is able to assist the human motion and stabilize the phase of the human motion on a limitted cycle.(3)Based on phase oscillation controller,design the mass vibration phase oscillation system and the suspension phase oscillation system.Based on the robustness and versatility of the phase oscillation control system,design the spring jacket motion enhanced device and the wearable exoskeleton motion enhanced device,and the jet human motion enhanced device.(4)According to the human gait characteristics and phase oscillation controller,the experimental prototype of the jet human motion device is developed.The test experiment of device performance based on heart rate monitor is completed.The experiment proves that the jet human motion enhanced device can reduce the ground reaction force,reduce the human motion heart rate and energy consumption,has a good effect of human motion enhancement.