Gastrocnemius Myoelectric Control of a Robotic Hip Exoskeleton Can Reduce the User's Lower-Limb Muscle Activities at Push Off.
Gastrocnemius Myoelectric Control of a Robotic Hip Exoskeleton Can Reduce the User's Lower-Limb Muscle Activities at Push Off.
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DOI：
10.3389/fnins.2018.00071
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发表时间：
2018
影响因子：
4.3
通讯作者：
Vitiello N
中科院分区：
文献类型：
--
作者：
Grazi L;Crea S;Parri A;Molino Lova R;Micera S;Vitiello N
我们提出了一种基于比例肌电图（EMG）策略的机器人髋关节外骨骼辅助髋关节屈曲/伸展的新型辅助控制策略。所提出的控制器的新颖性依赖于使用腓肠肌内侧肌（GM）肌电图信号而不是髋关节屈肌来控制髋关节屈曲扭矩。该策略有两个主要优点：首先，避免将肌电电极放置在人机界面上，可以减少用户的不适问题和记录信号的运动伪影；其次，使用强大的信号进行控制，如通用汽车，可以提高控制系统的可靠性。该控制策略已在8名健康受试者身上进行了测试，他们在跑步机上使用机器人髋关节外骨骼行走。我们评估了控制器的性能和辅助对肌肉活动的影响。控制器中辅助时间的调整与受试者相关，并且在受试者之间存在差异。有两块肌肉可以从辅助策略中获益更多，即股直肌（直接辅助）和胫前肌（间接辅助）。研究发现，在提供辅助的时间（即与髋关节生物扭矩同步）与步行时髋屈肌活动的减少之间存在显著的相关性；相反，峰值扭矩和峰值功率没有显著的相关性。结果表明，辅助时机是影响控制策略有效性的最重要参数。这项工作的发现可能对未来旨在开发辅助行走外骨骼的辅助策略的研究很重要。
We present a novel assistive control strategy for a robotic hip exoskeleton for assisting hip flexion/extension, based on a proportional Electromyography (EMG) strategy. The novelty of the proposed controller relies on the use of the Gastrocnemius Medialis (GM) EMG signal instead of a hip flexor muscle, to control the hip flexion torque. This strategy has two main advantages: first, avoiding the placement of the EMG electrodes at the human–robot interface can reduce discomfort issues for the user and motion artifacts of the recorded signals; second, using a powerful signal for control, such as the GM, could improve the reliability of the control system. The control strategy has been tested on eight healthy subjects, walking with the robotic hip exoskeleton on the treadmill. We evaluated the controller performance and the effect of the assistance on muscle activities. The tuning of the assistance timing in the controller was subject dependent and varied across subjects. Two muscles could benefit more from the assistive strategy, namely the Rectus Femoris (directly assisted) and the Tibialis Anterior (indirectly assisted). A significant correlation was found between the timing of the delivered assistance (i.e., synchronism with the biological hip torque), and reduction of the hip flexors muscular activity during walking; instead, no significant correlations were found for peak torque and peak power. Results suggest that the timing of the assistance is the most significant parameter influencing the effectiveness of the control strategy. The findings of this work could be important for future studies aimed at developing assistive strategies for walking assistance exoskeletons.
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使用未经动荡的外骨骼降低人行走的能源成本。
影响因子：
64.8
作者：
Collins, Steven H.;Wiggin, M. Bruce;Sawicki, Gregory S.
通讯作者：
Sawicki, Gregory S.
影响因子：
2.5
作者：
Hermens, HJ;Freriks, B;Rau, G
通讯作者：
Rau, G
影响因子：
3.2
作者：
Lewis, CL;Sahrmann, SA
通讯作者：
Sahrmann, SA
DOI：
10.1109/tnsre.2008.2008285
发表时间：
2009-02
期刊：
IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society
影响因子：
--
作者：
Kinnaird CR;Ferris DP
通讯作者：
Ferris DP
DOI：
10.3390/s140101073
发表时间：
2014-01-09
期刊：
Sensors (Basel, Switzerland)
影响因子：
--
作者：
Crea S;Donati M;De Rossi SM;Oddo CM;Vitiello N
通讯作者：
Vitiello N