An EMG-driven musculoskeletal model for estimation of wrist kinematics using mirrored bilateral movement
An EMG-driven musculoskeletal model for estimation of wrist kinematics using mirrored bilateral movement
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DOI：
10.1016/j.bspc.2022.104480
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发表时间：
2023-03
期刊：
影响因子：
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通讯作者：
Yihui Zhao;Zhenhong Li;Zhi-Li Zhang;Kun Qian;Shengquan Xie
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文献类型：
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作者：
Yihui Zhao;Zhenhong Li;Zhi-Li Zhang;Kun Qian;Shengquan Xie
肌电控制方法旨在驱动电动假肢恢复截肢者的日常生活功能。为了实现腕关节的多个运动学的同时和成比例估计，无模型方法被广泛开发，但依赖于丰富的训练数据和省略神经机械变换的数值函数。基于肌肉骨骼模型的方法需要从神经命令到肢体运动的潜在肌肉转换。然而，用于远端关节的同时运动学估计的基于模型的方法，即，腕关节，往往被忽视。本文提出了一个肌电图（EMG）驱动的肌肉骨骼模型来估计手腕关节运动学，包括手腕屈曲/伸展和桡/尺偏。所提出的方法计算内力/关节扭矩，并集成了手腕运动学使用的前向动力学。镜像的双边运动被用来优化内部生理参数，这提高了肌电控制的实际应用的可行性，为单侧经桡截肢者。实验在六名身体健全的受试者身上进行，涉及一系列自由空间中的手腕运动。结果表明，所提出的基于模型的方法提供了高的估计精度，在对侧的情况下，平均系数为0.86和0.82的手腕屈曲/伸展和桡/尺偏，分别为。所提出的方法和装置为多腕运动学的同步和比例控制提供了可靠和可行的意义。
Myoelectric control methods aim at driving electric prostheses in restoring functionality in daily life for amputees. To achieve the simultaneous and proportional estimation of multiple kinematics of the wrist joint, model-free approaches are broadly developed but rely on the abundant training data and the numerical functions that omit neuro-mechanical transformation. The musculoskeletal model-based approach entails the underlying muscular transformation from neuro-commands to the limb motion. However, the model-based approach for simultaneous kinematics estimation of the distal joint, i.e., wrist joint, is often overlooked. This paper proposes an electromyography (EMG)-driven musculoskeletal model to estimate the wrist joint kinematics involving wrist flexion/extension and radial/ulnar deviation. The proposed approach computes the internal force/joint torque and integrates the wrist kinematics using the forward dynamics. The mirrored bilateral movements are utilised to optimise the internal physiological parameters, which improve the feasibility for the practical application of myoelectric control for the unilateral transradial amputee. Experiments are conducted on six able-bodied subjects, involving a series of wrist movements in free space. Results demonstrate the proposed model-based approach provides high estimation accuracy in the contralateral case with mean coefficient of determination of 0.86 and 0.82 for wrist flexion/extension and radial/ulnar deviation, respectively. The proposed approach and setup give reliable and feasible meaning for the simultaneous and proportional control of multiple wrist kinematics.