中文摘要：

在准确预识别平地行走,上、下楼梯三类运动模式的基础上,提出了根据各路况的运动特点制定对应假肢膝关节运动控制策略的方法.突出三类路况运动特点的同时,解决了由于建模困难无法得到膝关节运动方程的问题,另外采用无模型动态矩阵对假肢膝关节的运动轨迹追踪控制.该方法利用紧格式线性化方法简化了人体运动时髋、膝关节角度变化的复杂关系.实验结果表明运动控制策略模仿实际运动轨迹的方法是有效的,使假肢能够自然地跟随健肢的运动变化,充分利用了被控系统输入、输出数据的内部信息,且运动控制方法具有较好的跟踪效果,确保了下肢假肢运动的控制精度.

英文摘要：

The research was based on the accurate pre-recognition of walking,upstairs,downstairs for the needs of different control modes of three typical terrains.Firstly,the method,making the corre-sponding motion control strategy of prosthetic knee joint according to the motion characteristics of three typical terrains was proposed.The movement characteristics of three typical terrains were out-standing.And the problem which was unable to obtain the equations of motion due to difficult model-ing was solved at the same time.In addition,model-free dynamic matrix was used to track control of the motion trajectory of prosthetic knee.The method using the linearization of tight format simplifies the complex relationship between the changes of hip and knee joint angle.The experimental results show that the method of motion control strategy to imitate the actual motion trajectory is effective. The limb motion can be more natural to follow the healthy limb.It makes full use of the input and output information of the controlled system.And the motion control method has a good tracking effect and convergence.It ensures the control precision of the lower limbs movement.