An EMG-based variable impedance control for elbow exercise: preliminary study
An EMG-based variable impedance control for elbow exercise: preliminary study
复制标题
DOI：
10.1080/01691864.2017.1353440
复制
发表时间：
2017-01-01
影响因子：
2
通讯作者：
Kim, Kwang Gi
中科院分区：
文献类型：
--
作者：
Kim, Yeoun-Jae;Park, Chang-Kyu;Kim, Kwang Gi
随着医疗领域的不断发展，人们的平均预期寿命增加。然而，由于自然退化，手臂的平均肌肉力量随着年龄的增长而下降。因此，随着年龄的增长，人们需要锻炼身体。对于上肢康复机器人的研究很多。然而，只有少数人注重对正常人上肢肌肉进行系统的锻炼。因此，在本研究中，开发了一种基于肌电图（EMG）的变阻抗控制方法，用于正常人的肘关节运动。四个EMG传感器被连接到指定的右臂和他们的平均EMG水平控制的算法在肘关节屈伸运动。共进行了29个实验，15名受试者，以验证所提出的控制算法与NCCEES，肘部锻炼系统的作者开发的肘部锻炼。实验结果表明，所提出的控制算法可以控制在约24.1%的误差在手肘运动的肌电水平。然而，所提出的控制算法不能控制肌电水平的波动，这取决于肌肉的特性的主题。该算法的训练效果将是未来的工作。
As the medical field continues to evolve, the average life expectancy of the people increases. However, due to natural deterioration, the average muscle force of the arm decreases in respect to age. So, there are some needs for the people to exercise his/her body as he/she is getting older. There are many researches about the robotic rehabilitation of the upper limb for patients. However, only a few focus on the system of the upper limb muscle exercise for normal people. So, in this study, an electromyography (EMG)-based variable impedance control method is developed for elbow exercise in normal people. Four EMG sensors were attached to the designated right arm and their average EMG level was controlled by the proposed algorithm during an elbow flexion-extension exercise. A total of twenty nine experiments with 15 subjects were performed to verify the proposed control algorithm with NCCEES, an elbow exercise system developed by the authors for the elbow exercise. The experimental results showed that the proposed control algorithm could control the EMG level in approximately 24.1% percent error during the elbow exercise. However, the proposed control algorithm could not control the EMG level fluctuation which depended on the muscular characteristics of the subject. The effect of training with the proposed algorithm will be future work.