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2. Army Research Academy, Shijiazhuang 050000, China, fund=null, authors=CHEN Jianhua¹, MU Xihui², DU Fengpo², HE Yi¹, CUI Donghua¹, authorsList=CHEN Jianhua, MU Xihui, DU Fengpo, HE Yi, CUI Donghua), CN=ArticleExt(id=1242137691349917789, articleId=1242137688745255000, tenantId=1146029695717560320, journalId=1146031591421210625, language=CN, title=评价指标体系下的外骨骼支撑相控制效果, columnId=1242137113915891796, journalTitle=科技导报, columnName=专题：体系工程, runingTitle=null, highlight=null, articleAbstract=针对一种下肢外骨骼机器人，设计了一种基于步态识别的阻抗自调整控制方法，并通过实验验证，与传统的位置控制、阻抗恒定控制方法进行了对比分析。通过建立一套基于雷达图的指标体系，对不同的外骨骼支撑相控制实验结果进行了科学评价，发现阻抗自调整控制能够保证外骨骼在支撑相不同阶段满足不同的运动需求，与传统阻抗控制方法相比具有最优的总体运动效果。, correspAuthors=null, authorNote=陈建华,工程师,研究方向为信息感知与智能技术,电子信箱:chenjhua@zju.edu.cn, correspAuthorsNote=崔东华(通信作者),研究员,研究方向为武器系统工程,电子信箱:cuidonghua328@yeah.net, copyrightStatement=null, copyrightOwner=null, extLink=null, articleAbsUrl=null, sourceXml=null, magXml=null, pdfUrl=null, pdf=TpLP1Ldg9X6ySRwbLa7XXA==, pdfFileSize=2433904, pdfExtLink=null, richHtmlUrl=null, mobilePdfUrl=null, reviewReport=null, pdfFirstPage=null, abstractGraph=null, abstractGraphContent=null, abstractVideo=null, citation=null, cebUrl=null, magXmlContent=null, mapNumber=null, authorCompany=1. 海军研究院, 北京 102401;
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