Upper limb multi-joint synchronous proportional electromyography control method and system based on muscle synergy

A myoelectric control and multi-joint technology, applied in the field of myoelectric signal processing and myoelectric control, to achieve accurate and stable motion estimation effects, smooth and stable control commands, and strong interactivity

Active Publication Date: 2019-01-25
WUHAN UNIV OF TECH
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However, most of these studies are aimed at the sequential motion of single joint and single degree of freedom, while

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  • Upper limb multi-joint synchronous proportional electromyography control method and system based on muscle synergy
  • Upper limb multi-joint synchronous proportional electromyography control method and system based on muscle synergy
  • Upper limb multi-joint synchronous proportional electromyography control method and system based on muscle synergy

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Embodiment Construction

[0030] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0031] figure 1 It shows the overall flow of the multi-joint synchronous proportional myoelectric control method based on muscle coordination, and provides a semi-supervised muscle coordination analysis method to extract motion-related activation by using the advantages of muscle coordination contraction theory in solving multi-degree-of-freedom motion problems. coefficient sequence, and build a synergistic activation model through Support Vector Regression (SVR) to simultaneously estimate the motion angle information of the wrist and elbow joints of the upper limbs, and finally combine the multi-degree-of-freedom parallel proportional control strategy to build synchronous proportional EMG for multiple joints of the upper limbs The control system provides smooth and stable motion control commands for smart devices.

[0032] A synchro...

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Abstract

The invention discloses an upper limb multi-joint synchronous proportional electromyography control method and system based on muscle synergy. The method includes first collecting and preprocessing asurface electromyography signal of joint motion related muscles, providing a semi-supervised non-negative matrix factorization synergic analysis method according to a muscle synergic contraction modelto decouple the electromyography signal and effectively extract joint motion related muscle synergy elements and activation coefficient sequences; second constructing a synergic activation model of activation coefficients and joint angles through support vector regression and adopting a brainstorming algorithm to optimize model parameters to achieve synchronous estimation of multiple joint motionangle information of upper limbs; finally constructing an upper limb multi-joint synchronous proportional electromyography control system based on muscle synergy by combining the multi-degree-of-freedom parallel proportional electromyography control strategy to convert the estimated multi-joint motion angle information into multi-degree-of-freedom operation displacement of a rehabilitation aid device and provide a smooth stable motion control instruction for the rehabilitation aid device.

Description

technical field [0001] The invention belongs to the field of myoelectric signal processing and myoelectric control, and relates to a muscle synergy analysis method and a multi-joint synchronous continuous motion estimation method based on a synergistic activation model, in particular to an upper limb multi-joint synchronous proportional myoelectric control method and system based on muscle synergy. Background technique [0002] Surface Electromyography (sEMG) is widely used in the fields of rehabilitation robots, intelligent prosthetics, and human-computer interaction because of its anti-interference ability, easy acquisition, and rich motion control information. The rich information contained in the sEMG signal can reflect the movement intention and state of the limbs, and provide a variety of different modes of motion control instructions for intelligent rehabilitation auxiliary equipment. Compared with other auxiliary equipment that rely on buttons or artificial voice cont...

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1602B25J9/1664
Inventor 艾青松张亚男刘泉陈昆孟伟左洁
Owner WUHAN UNIV OF TECH
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