论文标题
快速重建下limb外骨骼轨迹进行康复
Fast replanning of a lower-limb exoskeleton trajectories for rehabilitation
论文作者
论文摘要
该论文使用下LIMB截骨骨骼的较低liMB解决了残疾患者的康复。我们提出了一种新颖的数值方法，可以重新启动当前步骤，而不会损害稳定性。根据简单的线性时间不变替代模型评估稳定性。该方法的核心是对未指定终端指定的状态的输入约束最佳控制问题的分析。对Pontryagin最大原理给出的极端物质的详细研究足以表征其可行性。这允许快速重新知性策略。数值算法的效率（低于1毫秒）的效率可产生对患者要求的响应性。对患者外骨骼系统的全身模型的现实模拟强调，物理治疗师实际兴趣的病例已得到充分解决。
The paper addresses the rehabilitation of disabled patients using a lower-limb fully-actuated exoskeleton. We propose a novel numerical method to replan the current step without jeopardizing stability. Stability is evaluated in the light of a simple linear time-invariant surrogate model. The method's core is the analysis of an input-constrained optimal control problem with state specified at an unspecified terminal time. A detailed study of the extremals given by Pontryagin Maximum Principle is sufficient to characterize its feasibility. This allows a fast replanning strategy. The efficiency of the numerical algorithm (resolution time below 1 ms) yields responsiveness to the patient's request. Realistic simulations on a full-body model of the patient-exoskeleton system stress that cases of practical interest for physiotherapists are well-addressed.
