Joint assistant control method based on myoelectricity activity feedback
A technology of activity and joints, applied in the direction of program control manipulators, manufacturing tools, manipulators, etc., to achieve the effect of improving power assist efficiency
Active Publication Date: 2018-12-14
BEIJING MECHANICAL EQUIP INST
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[0005] In view of the above analysis, the present invention aims to provide a joint assist control method based on myoelectric activity feedback to solve the problem in the prior art that it is difficult to obtain accurate muscle force information from myoelectric signals
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[0041] Preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the application and together with the embodiments of the present invention are used to explain the principle of the present invention and are not intended to limit the scope of the present invention.
[0042] A specific embodiment of the present invention discloses a joint assist control method based on myoelectric activity feedback, including the following steps:
[0043] Step S1, preprocessing the collected original EMG signal;
[0044] Step S2, analyzing the activity of the EMG signal after the above preprocessing;
[0045] Step S3. According to the analysis result of the activity of the electromyographic signal, the information on the magnitude and timing of muscle exertion is obtained, and the information is output to the joint assisting device. The joint assisting device uses the abov...
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The invention relates to a joint assistant control method based on myoelectricity activity feedback, and belongs to the technical field of joint assistant control. The problem that accurate muscle force information is difficult to obtain based on myoelectricity signals in the prior art is solved. The method comprises the following steps that collected original myoelectricity signals are preprocessed; the activity of the preprocessed myoelectricity signals is analyzed; according to the myoelectricity signal activity analysis results, the information of muscle burst-out strength and strength burst-out moment is obtained, the information is output to a joint assistant device, and the join assistant device carries out joint assistant control through the information. The information of muscle burst-out strength and strength burst-out moment is obtained and used as the basis of joint force control; the muscle strength burst-out intention is obtained immediately, and muscle burst-out strengthis recognized, human body movement prediction instantaneity can be ensured, and movement assistance can be given in time from the angle of force control, the effect of man-machine cooperative controlis achieved, and meanwhile the assistance efficiency of an assistant robot is improved.
Description
technical field [0001] The present invention relates to the technical field of joint assist control, in particular to a joint assist control method based on myoelectric activity feedback. Background technique [0002] At present, there are two main ways for wearable robots to realize human-machine collaborative control: 1) Direct motion / force control: After the human body moves, rely on kinematic sensors or force sensor feedback to give motion / force signals, and then control the robot; 2) Movement intention control: collect human bioelectric signals (EMG, electromyography, EEG, etc.), analyze human movement intention, and then control the robot to move or exert force according to the human movement intention. The former is a traditional robot control method, because only when the human body moves will there be a corresponding signal, so there will be a high control delay; the latter can immediately feedback the human body's movement intention, although its quantitative analy...
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IPC IPC(8): B25J9/16
CPCB25J9/1633
Inventor 崔翔贾正伟胡源渊王道臣李鑫常远
Owner BEIJING MECHANICAL EQUIP INST