为使人体下肢假肢尽可能接近正常人的步态行走模式，设计了以数字信号处理器（DSP）为控制核心的下肢假肢膝-踝关节柔性仿生控制装置，以便改善下肢假肢的功能性、灵活性与可用性；设计采用生物电传感器采集患者下肢残段的生物电信号，同时检测速度及加速度传感器的信息，经多通道信号运算放大滤波后，进行模数转换，将数字信息输入DSP微处理器进行步态分析与决策，DSP输出的PWM信号对电机进行控制，进而控制假肢的膝-踝关节的全时相角度、力学及运动学参数。%In order to make artificial lower limbs of human body as close as possible to the normal gait pattern, the lower extremity prosthetic knee and ankle joint flexible bionic control device is designed with the digital signal processor （DSP） as the control core, in order to improve lower limb prosthesis functionality, flexibility and usability. Biological electrode obtains biological signal under section of the patients, and detects the information of acceleration and speed sensor, after the multi-channel signals operation amplifier filtering, analog-to-digital conversion , digital infmznation input DSP microprocessor on gait analysis. PWM signal of DSP output controlls the motor and then outputs control decision-making information, controls the prosthetic knee, ankle phase Angle and force full-time and kinematics parameter, which is of important application prospect and academic value.
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