Intention-Based EMG Control for Powered Exoskeletons
Intention-Based EMG Control for Powered Exoskeletons
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DOI：
10.1109/tbme.2012.2198821
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发表时间：
2012-08-01
影响因子：
4.6
通讯作者：
Carrozza, Maria Chiara
中科院分区：
文献类型：
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作者：
Lenzi, Tommaso;De Rossi, Stefano Marco Maria;Carrozza, Maria Chiara
肌电图 (EMG) 信号经常用于估计人体肌肉扭矩。在人类辅助机器人领域，这些方法提供了有价值的信息，为用户提供有效的支持。然而，它们的可用性受到复杂的用户相关和会话相关校准程序的必要性的强烈限制，这将它们的使用限制在实验室环境中。尽管如此，为了向用户提供有效的运动帮助，可能不需要准确估计肌肉扭矩。人类中枢神经系统对外界干扰的自然适应能力可以补偿机器人提供的扭矩精度较低的情况，保持运动精度不变，同时减少力气。为了探索这种可能性，在本文中，我们研究了 10 名健康受试者对通过肘部动力外骨骼应用的比例肌电图控制提供的帮助的反应。该系统仅给出用户肌肉扭矩的粗略估计，但不需要任何特定的校准。实验结果清楚地表明，受试者几乎立即适应了机器人提供的帮助，并且可以减少他们的努力，同时在不同的动态条件下保持对运动的完全控制（即，没有观察到运动精度的改变）。
Electromyographical (EMG) signals have been frequently used to estimate human muscular torques. In the field of human-assistive robotics, these methods provide valuable information to provide effectively support to the user. However, their usability is strongly limited by the necessity of complex user-dependent and session-dependent calibration procedures, which confine their use to the laboratory environment. Nonetheless, an accurate estimate of muscle torque could be unnecessary to provide effective movement assistance to users. The natural ability of human central nervous system of adapting to external disturbances could compensate for a lower accuracy of the torque provided by the robot and maintain the movement accuracy unaltered, while the effort is reduced. In order to explore this possibility, in this paper we study the reaction of ten healthy subjects to the assistance provided through a proportional EMG control applied by an elbow powered exoskeleton. This system gives only a rough estimate of the user muscular torque but does not require any specific calibration. Experimental results clearly show that subjects adapt almost instantaneously to the assistance provided by the robot and can reduce their effort while keeping full control of the movement under different dynamic conditions (i.e., no alterations of movement accuracy are observed).