中文摘要：

为了减小假肢执行器延迟以及判断程序延迟对动力型假肢协调控制带来的影响,采用步行模式预识别的方法,提前控制动力型下肢假肢的运动,以达到最佳的协调控制效果.利用假肢接受腔装配的陀螺仪传感器、加速度传感器以及安装在假肢足底的压力传感器来进行数据采集,通过分析传感器采集数据与模版数据之间的相关性信息来实现步行模式的预识别.实验结果表明利用分析多传感器数据的相关性预识别步行模式的方法是有效的,可使假肢及时调节、及时动作,增强了假肢的智能性,该技术对智能假肢的发展具有重要的实用价值.

英文摘要：

In order to reduce the delay effect of prosthetic actuator and judgment program to power type prosthetic coordinated control,a walking mode pre-judgment method is used to advance control the motion of dynamic lower limb so as to achieve the best coordinated control effect.Gyroscope and accelerometer sensors mounted in the prosthetic socket and pressure sensors mounted under foot are used to acquire data of walking state.By analyzing the correlation information between the sensor data and the master plate data,the walking mode pre-judgrent of prosthesis can be realized.The experimental results show that the use of correlation analysis of multi-sensor data for pre-identifying the walking mode is effective and it can make the prosthetic timely regulation,timely action,thus enhancing the prosthetic intelligent.The proposed method has important practical value for intelligent prosthesis development.