Design of EMG-driven Musculoskeletal Model for Volitional Control of a Robotic Ankle Prosthesis
Design of EMG-driven Musculoskeletal Model for Volitional Control of a Robotic Ankle Prosthesis
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DOI：
10.1109/iros47612.2022.9981305
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发表时间：
2022-02
期刊：
影响因子：
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通讯作者：
Chinmay Shah;Aaron Fleming;Varun Nalam;H. Huang
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文献类型：
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作者：
Chinmay Shah;Aaron Fleming;Varun Nalam;H. Huang
现有的机器人假肢使用自主控制来处理周期性、运动性任务，但在适应非周期性和不可预测任务的变化方面存在不足。本研究旨在通过设计一种新型肌电驱动的肌肉骨骼模型来解决这一挑战，该模型用于机器人踝足假体的意志控制。所提出的控制器确保了对设备的连续控制，允许用户自由地操纵假体行为。一个Hill类型的肌肉模型被用来模拟虚拟踝关节周围的背屈肌和趾屈肌。通过将特定于受试者的模型与从健全受试者收集的实验数据进行拟合来确定受试者特定模型的模型参数。使用拮抗肌肉对记录的肌电信号激活虚拟肌肉模型。这种基于模型的方法随后通过离线模拟和实时假肢控制进行了验证。此外，还证明了所提出的假体控制在辅助用户的功能任务方面的可行性。本发明的控制可以进一步改善机器人假体的功能，以支持下肢截肢患者的多种活动。
Existing robotic lower-limb prostheses use autonomous control to address cyclic, locomotive tasks, but are inadequate in adapting to variations in non-cyclic and unpredictable tasks. This study aims to address this challenge by designing a novel electromyography (EMG)-driven musculoskeletal model for volitional control of a robotic ankle-foot prosthesis. The proposed controller ensures continuous control of the device, allowing users to freely manipulate the prosthesis behavior. A Hill-type muscle model was implemented to model a dorsiflexor and a plantarflexor to function around a virtual ankle joint. The model parameters for a subject specific model was determined by fitting the model to the experimental data collected from an able-bodied subject. EMG signals recorded from antagonist muscle pairs were used to activate the virtual muscle models. This model-based approach was then validated via offline simulations and real-time prosthesis control. Additionally, the feasibility of the proposed prosthesis control on assisting the user's functional tasks was demonstrated. The present control may further improve the function of robotic prosthesis for supporting versatile activities in individuals with lower-limb amputations.