中文摘要：

研究的目的在于实现功能性电刺激中瘫痪患者功能性站立的仿真。通过对人体站立姿态进行动力学分析,利用最优控制理论,以脚部受地面作用力点到踝关节的距离及控制力矩取极小值为最优控制准则,建立并优化被控制模型,设计最优控制器;以一参考输入为随机曲线的比例微分控制器模拟截瘫患者完好上身的活动,利用最优控制器和卡尔曼状态观测器,构建整个控制系统;以一名身高162 cm、体重55 kg的中国青年男性为样本,利用线性二元回归法计算仿真所需数据,对整个控制系统进行仿真研究。仿真结果表明,截瘫患者腿部肌肉只需要提供较小的力矩便可以维持身体平衡,因而在理论上截瘫患者在不需要双臂辅助的条件下,能够站立较长时间。

英文摘要：

The aim of this study is to simulate functional standing-up of the paralytics. Using optimal control theory, dynamics analysis of standing posture was conducted. The object control model was formed and the optimal controller was designed based on the minimum-optimal of the distance between frame feet and ankle, as well as its control torques. A PD controller was built with a random curve input to simulate the normal upper body movement, constructing an integrated control system. Simulation data was obtained from a Chinese man （162 cm, 55 kg） based on using duality linear regression method. The simulation result showed that the body balance for the patients with spinal cord injury could be kept with a limited assistive torque provided by leg muscles so that the paralytics could stand for a longer period without any support from arms.