Computer Engineering and Applications ›› 2019, Vol. 55 ›› Issue (17): 239-245.DOI: 10.3778/j.issn.1002-8331.1805-0314

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CPG Control and Analysis of Its Key Parameters in Motion Assistance

ZHANG Xia, HU Jinjia, CHEN Lili, CHEN Renxiang   

  1. School of Mechanotronics and Vehicle Engineering, Chongqing Jiaotong University, Chongqing 400074, China
  • Online:2019-09-01 Published:2019-08-30



  1. 重庆交通大学 机电与车辆工程学院,重庆 400074

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

摘要: 针对运动辅助过程中主/从运动生成的问题,在原有松岗(Matsuoka)数学模型的基础上引入适应系数建立了一个新的CPG模型,获得了理想的主/从关节目标轨迹;利用仿真分析手段调查研究了CPG模型的关键参数对其输出振荡的影响规律;以单关节运动辅助为控制对象,建立了相应的人机交互运动系统的动力学模型,利用基于MATLAB的仿真试验对CPG控制的有效性进行了验证。结果表明,根据CPG各个参数与输出的变化规律,适当调节各个参数可以获得理想的输出;CPG生成的运动轨迹有效规避了传统助力机器人控制模型中复杂的运动学和动力学解算;可根据实际需求调整外部参数[C]从而有效地生成辅助装置主/从运动模式;控制方法对单关节运动辅助具有明显效果。

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