Effect of Assist Robot on Muscle Synergy during Sit-to-Stand Movement
Effect of Assist Robot on Muscle Synergy during Sit-to-Stand Movement
复制标题
辅助机器人对坐站运动时肌肉协同作用的影响
DOI：
10.1109/isr50024.2021.9419525
复制
发表时间：
2021
期刊：
影响因子：
--
通讯作者：
N. Shiozawa
中科院分区：
文献类型：
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作者：
Tianyi Wang;Shima Okada;An Guo;M. Makikawa;N. Shiozawa
坐站起来 (STS) 是日常生活中的一项重要运动，对老年人来说可能很困难。辅助机器人预计将提供STS支持。 STS运动不仅需要动力学协调，还需要肌肉协调。因此，了解机器人辅助下 STS 期间的肌肉协调是人机交互的关键问题。本研究的目的是通过肌肉协同理论揭示辅助机器人在STS过程中对肌肉协调的影响。六名受试者自行执行和机器人辅助的 STS 总共十次。使用非负矩阵分解 (NMF) 测量八块肌肉的表面肌电图 (EMG)，以提取肌肉协同作用。结果，在自我执行的STS中出现了两块肌肉的协同作用。当机器人辅助STS时，存在三种肌肉协同作用。在有机器人辅助和没有机器人辅助的情况下，下肢肌肉的肌肉协同作用的空间模式有所不同。使用机器人延迟了时间模式下肌肉协同作用的激活。
Sit-to-Stand (STS) is an important movement in daily life and could be difficult for older people. Assist robot is expected to provide STS support. STS movement does not only require kinetic coordination, but also muscle coordination. Thus, understanding the muscle coordination during STS with robot assistance is a key issue of human-robot-interaction. The purpose of this study is to reveal the effect of assist robot on muscle coordination during STS through muscle synergy theory. Six subjects did self-performed and robot-assist STSs in total ten times. Surface electromyogram (EMG) of eight muscles was measured to extract muscle synergy using non-negative matrix factorization (NMF). As a result, two muscle synergies appeared in self-performed STS. There were three muscle synergies when STS was assisted by the robot. The spatial patterns of muscle synergies for lower limb muscles differed with and without robot assistance. Using the robot delayed the activation of muscle synergy at the temporal pattern.