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基于肩部肌肉表面肌電的下肢外骨骼控制系統(tǒng) Lower limb exoskeleton control system based on shoulder muscle surface electromyography |
| 作者： 朱鵬霖 蘇宗信 唐家曦 武彥言 于詩靜 唐鶴云 |
| 單位：徐州醫(yī)科大學(xué)醫(yī)學(xué)影像學(xué)院（江蘇徐州 221004） <br />作者簡介：唐鶴云，副教授。E-mail：[email protected]。 |
| 關(guān)鍵詞： 表面肌電；外骨骼；運(yùn)動(dòng)意圖識(shí)別；康復(fù)機(jī)器人；三點(diǎn)步 |
| 分類號(hào)：R318.04 |
| 出版年·卷·期（頁碼）：2021·40·5（510-515） |
| 摘要： |
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目的 設(shè)計(jì)一種基于肩關(guān)節(jié)屈曲、外展運(yùn)動(dòng)主要肌肉表面肌電信號(hào)的下肢可穿戴外骨骼控制系統(tǒng)，解決基于下肢肌肉表面肌電信號(hào)控制系統(tǒng)信號(hào)提取識(shí)別困難的問題。方法首先采用表面肌電信號(hào)傳感器采集患者的三角肌前束、中束以及斜方肌肌電信號(hào)。其次通過藍(lán)牙等無線通信技術(shù)將信號(hào)實(shí)時(shí)傳輸至控制板。再次，控制板通過分析采集信號(hào)數(shù)據(jù)特征判斷患者運(yùn)動(dòng)狀態(tài)和運(yùn)動(dòng)意圖，控制大腿相關(guān)關(guān)節(jié)處舵機(jī)根據(jù)三維步態(tài)采集系統(tǒng)得到患者特殊步態(tài)數(shù)據(jù)提供相關(guān)扭矩完成運(yùn)動(dòng)。最后，受試者穿戴配有控制系統(tǒng)的外骨骼康復(fù)機(jī)器人后進(jìn)行3組獨(dú)立重復(fù)實(shí)驗(yàn)，驗(yàn)證機(jī)器人控制系統(tǒng)實(shí)時(shí)提取識(shí)別肌電信號(hào)、控制舵機(jī)運(yùn)作的效果。結(jié)果 肩關(guān)節(jié)表面肌肉位置淺表、肌腹面積大且拮抗肌信號(hào)干擾小，表面肌電采集容易，控制板對(duì)運(yùn)動(dòng)意圖的識(shí)別難度低，平均識(shí)別成功率有89.6%，驗(yàn)證了下肢外骨骼康復(fù)機(jī)器人控制系統(tǒng)有效控制舵機(jī)輔助人體完成康復(fù)訓(xùn)練的可行性。結(jié)論 基于肩部肌肉表面肌電信號(hào)的下肢外骨骼控制系統(tǒng)降低了信號(hào)提取識(shí)別難度，下肢外骨骼助行機(jī)器人通過提取并識(shí)別肩部表面肌電信號(hào)進(jìn)行運(yùn)動(dòng)具有可行性。 |
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Objective To design a lower extremity wearable exoskeleton control system based on the surface EMG signals of main muscles of shoulder flexion and abduction.，and to solve the problem of difficult signal extraction and recognition based on lower limb muscle surface EMG signal control system. Methods Firstly, the electrical signals of anterior, middle and trapezius deltoid were collected by surface EMG sensor. Secondly, the signal was transmitted to the control board in real time through Bluetooth and other wireless communication technologies. Thirdly, the control board judged the patient's motion state and motion intention by analyzing the characteristics of the collected signal data, controlled the steering gear at the relevant joints of the thigh, obtained the patient's special gait data according to the three-dimensional gait acquisition system, and provided relevant torque to complete the motion. Finally, after wearing the exoskeleton rehabilitation robot equipped with the control system, the subjects carried out three groups of independent repeated experiments to verify the effect of the robot control system on extracting and identifying EMG signals in real time and controlling the operation of the steering gear. Results The muscle position on the surface of shoulder joint was shallow, the area of muscle abdomen was large, and the interference of antagonistic muscle signal was small. The surface EMG acquisition was easy, and the control board had low difficulty in identifying movement intention. The average recognition success rate was 89.6%. It was verified that the control system of lower limb exoskeleton rehabilitation robot could effectively control the steering gear to assist the human body to complete rehabilitation training. Conclusions The design of lower limb exoskeleton control system based on shoulder muscle surface EMG signal reduces the difficulty of signal extraction and recognition. It is feasible for lower limb exoskeleton walking aid robot to move by extracting and recognizing shoulder surface EMG signal. |
| 參考文獻(xiàn)： |
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[1] 張秀, 張宇斐, 焦志偉. 康復(fù)機(jī)器人研究進(jìn)展[J]. 醫(yī)療衛(wèi)生裝備, 2020, 41(4)：97-102． |
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地址：北京安定門外安貞醫(yī)院內(nèi)北京生物醫(yī)學(xué)工程編輯部 電話：010-64456508 傳真：010-64456661 電子郵箱：[email protected] |