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JIN Dewen,WANG Rencheng,BAI Caiqin.Swing phase [39]RARNJANI A N,CORSS P A.A Kalman filter model ofsign optimization of an above⁃knee prosthesis based on the kinematics of gait[C] / / 30th Annual International Confer⁃ ence of the IEEE Engineering in Medicine and Biology So⁃ ciety. Vancouver, Canada, 2008: 4274⁃4277. [19]张国伟,宋伟刚.并联机器人动力学问题的 Kane 方法 [J].系统仿真学报, 2004, 16(7): 1386⁃1391. ZHANG Guowei, SONG Weigang. A Kane formulation for the inverse dynamic of Stewart platform manipulator [ J]. Journal of System Simulation, 2004, 16(7): 1386⁃1391. [20]刘延斌, 韩秀英,薛玉君,等.3⁃RRRT 并联机器人动力 学仿真[J].系统仿真学报, 2006, 18(7): 1962⁃1965. LIU Yanbin, HAN Xiuying, XUE Yujun, et al. Dynamics simulation of a 3⁃RRRT parallel robot[ J]. Journal of Sys⁃ tem Simulation, 2006, 18(7): 1962⁃1965. [21]TIBERT G. Deployable tenegrity structures for space appli⁃ cation [ R]. Stockholm: Royal Institute of Technology, 2002. [22] JENKYN T R, NICOL A C. A multi⁃segment kinematic model of the foot with a novel definition of forefoot motion for use in clinical gait analysis during walking[J]. Journal of Biomechanics, 2007, 40(14): 3271⁃3278. [23 ] SMITH S L. Application of high⁃speed videography in sports analysis [ C] / / Proceedings of SPIE 1757, Ultra⁃ high⁃ and High⁃Speed Photography, Videography, and Photonics. San Diego, USA, 1992: 118. [24]NARUSE K, KAWAI S, KUKICHI T. Three⁃dimensional lifting⁃up motion analysis for wearable power assist device of lower back support[ C] / / IEEE/ RSJ International Con⁃ ference on Intelligent Robots and Systems. Edmonton, Can⁃ ada, 2005: 2959⁃2964. [25]KIGUCHI K, HAYASHI Y. Estimation of joint torque for a myoelectric arm by genetic programming based on EMG signals[C] / / IEEE World Automation Congress ( WAC). Puerto Vallarta, Mexico, 2012: 1⁃4. [26]SARTORI M, REGGIANI M, PAGELLO E, et al. Model⁃ ing the human knee for assistive technologies [ J]. IEEE Transactions on Biomedical Engineering, 2012, 59 ( 9): 2642⁃2649. [27]PATRINOS P, ALEXANDRIDIS A, NINOS K, et al. Var⁃ iable selection in nonlinear modeling based on RBF net⁃ works and evolutionary computation[J]. International Jour⁃ nal of Neural Systems, 2010, 20(5): 365⁃379. [28]SONG R, TONG K Y. Using recurrent artificial neural net⁃ work model to estimate voluntary elbow torque in dynamic situations [ J ]. Medical and Biological Engineering and Computing, 2005, 43(4): 473⁃480. [29]金德闻,王人成,白彩勤. 电流变液智能下肢假肢摆动 相控制原理与方法[ J]. 清华大学学报:自然科学版, 1998, 38(2): 40⁃43. JIN Dewen, WANG Rencheng, BAI Caiqin. Swing phase control of intelligent lower limb prosthesis using electro⁃ rheological fluid[ J]. Journal of Tsinghua University: Sci⁃ ence and Technology, 1998, 38(2): 40⁃43. [30]MARTINEZ⁃VILLALPANDO E C, MOONEY L, ELLIOTT G, et al. Antagonistic active knee prosthesis. A metabolic cost of walking comparison with a variable⁃damping pros⁃ thetic knee[C] / / Proceedings of the 2011 Annual Interna⁃ tional Conference of the IEEE Engineering in Medicine and Biology Society. Boston, USA, 2011: 8519⁃8522. [31]王斌锐,金英连,徐心和.仿生膝关节虚拟样机与协同仿 真方法研究[ J].系统仿真学报, 2006, 18( 6): 1554⁃ 1557. WANG Binrui, JIN Yinglian, XU Xinhe. Virtual prototype and collaborative simulation of bionic knee joint[ J]. Jour⁃ nal of System Simulation, 2006, 18(6): 1554⁃1557. [32]朱昌义. 单杠上人体摆动的凯恩动力学模型[ J]. 成都 体育学院学报, 2000, 26(6): 71⁃74. ZHU Changyi. Kaine dynamics model of human swing on the horizontal bar[ J]. Journal of Chengdu Sport Universi⁃ ty, 2000, 26(6): 71⁃74. [33]刘明辉, 顾文锦, 陈占伏. 基于骨骼服的虚拟人体建模 与仿真[J]. 海军航空工程学院学报, 2009, 24 ( 2): 157⁃161. LIU Minghui, GU Wenjin, CHEN Zhanfu. Virtual human body modeling and simulation based on skeletal services [J]. Journal of Naval Aeronautical and Astronautical Uni⁃ versity, 2009, 24(2): 157⁃161. [34]沈凌, 孟青云, 喻洪流. 基于虚拟样机技术的下肢假肢 结构设计与仿真[J]. 工程设计学报, 2011, 18(1): 34⁃ 38. SHEN Ling, MENG Qingyun, YU Hongliu. Design and simulation of leg prosthesis structure based on virtual proto⁃ type technology[J]. Journal of Engineering Design, 2011, 18(1): 34⁃38. [35]MOURAGNON E, LHUILLIER M, DHOME M, et al. Mo⁃ nocular vision based SLAM for mobile robots[C] / / IEEE International Conference on Pattern Recognition. Hong Kong, China, 2006, 3: 1027⁃1031. [36]PRATT J, CHEW C M, TORRES A, et al. Virtual model control: An intuitive approach for bipedal locomotion[ J]. The International Journal of Robotics Research, 2001, 20 (2): 129⁃143. [37]YUAN Shaoqiang, LIU Zhong, LI Xingshan. Modeling and simulation of robot based on Matlab / SimMechanics[C] / / Proceedings of the 27th Chinese Control Conference. Kun⁃ ming, China, 2008: 161⁃165. [38] XU Guozheng, SONG Aiguo, LI Huijun. Control system design for an upper⁃limb rehabilitation robot[J]. Advanced Robotics, 2011, 25(1⁃2): 229⁃251. [39]RARNJANI A N, CORSS P A. A Kalman filter model of ·526· 智 能 系 统 学 报 第 10 卷
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