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用电刺激肌肉的开环与闭环控制器的设计完全取决于肌肉输入输出特性数学模型的提出与评估。肌肉模型包含三个因素:肌肉刺激动态因素、角度转矩关系因素以及转角速率关系因素。这些因素的叠加,使输出转矩与输入刺激和关节角度联系在一起。测定这个模型参数的实验方法已被设计并得到评估。基于这种方法的开环非线
The design of open-loop and closed-loop controllers that electrically stimulate the muscles depends entirely on the formulation and evaluation of the mathematical model of muscle input-output characteristics. Muscle model contains three factors: the dynamic factors of muscle stimulation, the relationship between the angular torque and the relationship between the factors of the angular velocity. The combination of these factors puts the output torque in line with the input stimuli and joint angles. Experimental methods for determining the parameters of this model have been designed and evaluated. Open loop based on this method