Rehabilitation robot control method based on electromyographic signal

A rehabilitation robot and myoelectric signal technology, applied in muscle training equipment, gymnastics equipment, sports accessories, etc., can solve the problems of humanoid and unconsidered, and achieve the effect of smooth movement

Inactive Publication Date: 2019-09-27
SUN YAT SEN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The above methods can well integrate human motion intention or performance into the control strategy, but do not consider how to make the machine more human-like in the process of assisting the subject

Method used

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  • Rehabilitation robot control method based on electromyographic signal
  • Rehabilitation robot control method based on electromyographic signal

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0023] In this example, the control method used is

[0024] S1: Obtain the sEMG signals of the active muscles and antagonist muscles (tibialis anterior and gastrocnemius) of the user's ankle joint movement, and input the sEMG signals into the linear proportional model τ ha =τ MA · nEMG A -τ MP · nEMG P After obtaining the user's joint torque τ ha . τ MA and τ MP are the peak torques of the agonist and antagonist muscles during maximal voluntary contraction, nEMG A and nEMG P They are the normalized signals of the peak value of the EMG signal by using the agonist muscle and the antagonist muscle during the maximum voluntary contraction, respectively. Among them, the tibialis anterior muscle is the active muscle when the ankle is dorsiflexed; the gastrocnemius is the antagonist muscle, and the gastrocnemius is the active muscle when the ankle is plantar flexed, and the tibialis anterior is the antagonist muscle;

[0025] S2: Set the joint torque τ ha Input admittance ...

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Abstract

The invention discloses a rehabilitation robot control method based on an electromyographic signal. A desired position of a user is obtained by collecting an sEMG signal of the user, then a smoothing model is used for establishing a desired trajectory, and finally, smoothness of movement is realized by using a position, velocity and acceleration multi-loop controller. According to the rehabilitation robot control method based on the electromyographic signal, the motion intention the user is considered, the smoothness of the movement is realized, and humanoid characteristics are achieved, that is, the movement is more in line with healthy people under normal conditions, so that the rehabilitation effect is improved.

Description

technical field [0001] The invention relates to the field of rehabilitation robot control, in particular to a smooth control strategy based on myoelectric admittance control. Background technique [0002] At present, the control algorithm of rehabilitation robots focuses on active control, that is, human-machine collaborative control. How to infiltrate human motion intention or performance into the control strategy and how to make the robot's actions more human-like are hotspots and difficulties in this field. [0003] The most common active control is impedance / admittance control, which adjusts the control reference quantity (reference position or reference force) based on the human-computer interaction force signal to achieve human-machine compliance. In addition, some scholars have adopted a control strategy based on the performance of the subject. This method can adjust the machine assistance in real time based on the exercise performance of the subject, so that the ass...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A63B23/08A63B21/00A63B24/00A63B71/06
CPCA63B21/00181A63B23/08A63B24/0087A63B71/0619A63B2230/085
Inventor 宋嵘申志航
Owner SUN YAT SEN UNIV
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