文献类型：会议论文

英文题名：Simulation Study on Neuromuscular Model-Inspired Control Strategy for Variable Stiffness Actuators

作者：Zhu, Jun[1];Wang, Yu[1];Cao, Heng[1]

机构：[1]East China Univ Sci & Technol, Sch Mech & Power Engn, Shanghai 200237, Peoples R China

会议论文集：5th International Conference on Cognitive Neurodynamics (ICCN)

会议日期：JUN 03-07, 2015

会议地点：Sanya, PEOPLES R CHINA

语种：英文

摘要：This study aims to seek a bionic control strategy for variable stiffness actuators and discuss the feasibility of this kind of actuators for the joint actuation on rehabilitation devices, exoskeletons, and prostheses. A robotic joint control schematic for variable stiffness actuators (VSA) inspired by the neuromechanical control model of biological joint is presented, based on the similarity analysis between neuromuscular system and VSA control system. By setting an equivalent short range of joint for specific posture, this control schematic changes the mechanical stiffness of joint when the control object shifts from posture control to motion control. Simulation results show that a robotic knee actuated by VSA can mimic the primary dynamic characteristics of a biological knee during a gait cycle using the presented joint stiffness control method.