引用本文:孙京诰,徐立栋,薛瑞,等.基于BMI模型的三关节假肢运动的优化控制[J].控制与决策,2020,35(9):2162-2168
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基于BMI模型的三关节假肢运动的优化控制
孙京诰1,2, 徐立栋1, 薛瑞1, 潘红光3
(1. 华东理工大学信息科学与工程学院,上海200237;2. 华东理工大学化工过程先进控制和优化技术教育部重点实验室,上海200237;3.西安科技大学电气与控制工程学院,西安710054)
摘要:
生物神经系统一直以来被作为机器人控制器的研究灵感之一,人们试图借用以生物为启发的控制模型来控制外部设备,使得其能达到类似生物般的运动效果.鉴于此,以一种模拟大脑皮层神经元放电活动为基础的闭环脑-机接口(BMI)模型为控制器,控制简化后的三关节人工假肢完成目标位置的抓取动作,并在给定目标距离下,建立三关节假肢的简化模型,由此提出时间与动能的损失函数以描述假肢运动过程产生的损耗.最后利用一种贝叶斯迭代算法求取假肢的最佳运动方式,使其在完成目标抓取动作时损失函数值最小,进而完成对假肢运动控制的优化并取得较好的控制效果.
关键词:  脑-机接口模型  皮层放电模型  闭环控制  三关节假肢  运动损耗  贝叶斯优化算法
DOI:10.13195/j.kzyjc.2019.0061
分类号:TP273
基金项目:国家自然科学基金项目(61603295);中央高校基本科研业务费专项资金项目(222201917006).
Optimal control of three-joint prosthesis motion based on closed-loop BMI model
SUN Jing-gao1,2,XU Li-dong1,XUE Rui1,PAN Hong-guang3
(1. College of Information Science and Engineering,East China University of Science and Technology,Shanghai200237,China;2. Key Laboratory of Advanced Control and Optimization for Chemical Processes of Ministry of Education,East China University of Science and Technology,Shanghai200237,China;3. College of Electrical and Control Engineering, Xián University of Science and Technology,Xián710054,China)
Abstract:
The biological nervous system has always been one of the inspirations of robot controller research. People try to control external equipments by using bio-inspired control models, so that the equipments can achieve bio-like motion effect. Therefore, a closed-loop brain-machine interface(BMI) model based on the discharge activity of cerebral cortical neurons is used as a controller to control the movement of the three-joint artificial prosthesis to the target position. And under a given target distance, a simplified model of the three-joint prosthesis is established, and a loss function of time and kinetic energy also is proposed to describe the loss generated by the prosthetic motion. Finally, a Bayesian iterative algorithm is used to obtain the optimal motion of the prosthesis, so that the loss function value is minimized when the target grabbing action is completed, and the motion control of the prosthesis is optimized.
Key words:  BMI model  cortical discharge model  closed-loop control  three-joint artificial prosthesis  motion loss  Bayesian optimization algorithm

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