关键词: 中枢模式发生器, 主/从运动辅助, 仿真分析, 人机交互动力学模型

Abstract: Aiming at the generation of active/passive motion assistance, a new CPG model is established based on the Matsuoka mathematical model and an ideal joint active-passive moving target trajectory is obtained. The influence of the key parameters of the CPG model on its output oscillation is investigated by simulation analysis. Taking a single joint motion assistant as the control object, a corresponding human-machine interaction motion system dynamics model is established. The effectiveness of CPG control is verified by the simulation experiment based on MATLAB. Experimental results demonstrate that according to the change regulation of each parameter and output of CPG, the ideal output can be obtained by adjusting each parameter properly. For the control of rhythmic motion joints, the trajectory generated by CPG effectively avoids the complex kinematic and dynamic operations of the traditional power assisted robot. The input weight coefficient [C] effectively regulates the active/passive mode of the auxiliary device according to the actual demand. The effect of control method on single joint motion is evaluated.

Key words: central pattern generator, active/passive motion assistance, simulation analysis, human-machine interaction motion system