基于FOS与自适应PD控制的膝关节术后康复外骨骼辅助系统被动轨迹跟踪方法研究

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中图分类号R493R683 文献标识码A 文章编号2096-7721（2025）11-1914-05

Passive trajectory tracking methods for exoskeleton-assisted rehabilitation systems in postoperative knee recovery based on FOS and adaptive PD control

ZHANG Ying，NIU Shun，LI Zhuoyang，ZHANG Hongtao，SHI Xiaohan （HealthcareCenterforilitaryPersonnel，TangduHospital，FourthMilitaryedicalUiversity，Xi'anO8，Cina）

AbstractObject：Taddresthshortcomingsofexistingexoskeleton-asistedsstemsintrajecrytrackingacuracyal-tie performance，anddaptabilitybyimprovinganimprovementsolution.Methods：Thefastorthogonalsearch （FOS）algorithmisusedto estimatethejinttorqueofthexoskeletoinealtiendadaptivecompesationcontrolerisdoptedtootizeteproortioal derivative （PD）controlmodelbyproposingapasivetrajectorytrackingcontrolmodelforthepostoperativekneehealingbasedonan exoskeleton-asistedsystem.Results：Whenthenumberofasisfunctionsis2O，therotmeansquareerroroftheproposdmodelis （204号 1.1% ，whichissignificantlylowerthanthatoftheothertwomodels，indicatingitshightrajectorytrackingacuracy.Thesearchtimeof thismodelis36slowra.sftradioalotrold.8sintieraredicatigisgopuaaly ThetrajectocigogofotodelisOadadhisifatlowraatflsut provingitshighotrolccracy.Conusonemodelpropoedintssdypefoswellinkreabilitationaftersurgeryich provide new insights for the intelligent development of exoskeleton technology.

KeWordsExoskeletonasistedSystem;KneeJoint;Surgery;Rehabilitatio;ProportioalDerivativeControl;FastOrtogoalearh

膝关节作为人体重要的承重和活动关节，其功能直接影响着人们的日常生活活动能力和生活质量。（剩余9450字）