A human-exoskeleton interface utilizing electromyography
A human-exoskeleton interface utilizing electromyography
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DOI：
10.1109/tro.2008.926860
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发表时间：
2008-08-01
影响因子：
7.8
通讯作者：
Hommel, Guenter
中科院分区：
文献类型：
--
作者：
Fleischer, Christian;Hommel, Guenter
本文提出了人机界面来控制外骨骼，该骨骼利用了从操作员的肌肉中的电信号作为信息运输的主要手段。这些信号记录在所选肌肉顶部的皮肤上的电极记录，并反映观察到的肌肉的激活。它们通过人体的复杂但简化的生物力学模型进行评估，以得出操作员的所需作用。根据所需的操作计算支持动作，并由外骨骼执行。生物力学模型融合了不同的生物力学和生物医学研究小组，并考虑了预期应用的明智简化。一些模型参数反映了单个人类操作员及其当前身体状态的特性。提出了这些参数的校准算法，该算法仅依赖于安装在外骨骼上的传感器。设计和构建了用于膝盖关节支撑的外骨骼，以验证模型，并在日常运动中使用力支撑的实验中操作员与机器之间的相互作用。
This paper presents a human-machine interface to control exoskeletons that utilizes electrical signals from the muscles of the operator as the main means of information transportation. These signals are recorded with electrodes attached to the skin on top of selected muscles and reflect the activation of the observed muscle. They are evaluated by a sophisticated but simplified biomechanical model of the human body to derive the desired action of the operator. A support action is computed in accordance to the desired action and is executed by the exoskeleton. The biomechanical model fuses results from different biomechanical and biomedical research groups and performs a sensible simplification considering the intended application. Some of the model parameters reflect properties of the individual human operator and his or her current body state. A calibration algorithm for these parameters is presented that relies exclusively on sensors mounted on the exoskeleton. An exoskeleton for knee joint support was designed and constructed to verify the model and to investigate the interaction between operator and machine in experiments with force support during everyday movements.