Cable-Driven Robotic Interface for Lower Limb Neuromechanics Identification.
Cable-Driven Robotic Interface for Lower Limb Neuromechanics Identification.
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用于下肢神经力学识别的电缆驱动机器人接口。
DOI：
10.1109/tbme.2020.3004491
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发表时间：
2021
期刊：
影响因子：
--
通讯作者：
Huang HY
中科院分区：
文献类型：
--
作者：
Huang HY
本文提出了一种通用的绳索驱动机器人接口，用于在矢状面上研究髋关节、膝关节和踝关节的单关节神经力学。这种基于终端的界面提供高度动态的交互和精确的位置控制(这通常是神经力学识别所必需的)，并提供腿部肌肉的位置、互作力和肌电(EMG)的测量。它可以与对象直立使用，对应于行走或站立时的自然姿势，并且与现有界面不同，不会对关节施加运动学约束。力学性能测试表明，该界面具有500N/m以上的刚性和较低的粘度。对刚性假腿和线性弹簧的测试表明，该方法可以准确地识别肢体的机械阻抗。开发了一种平滑扰动，并在人体受试者身上进行了测试，该扰动可用于估计髋部神经力学。
This paper presents a versatile cable-driven robotic interface to investigate the single-joint joint neuromechanics of the hip, knee and ankle in the sagittal plane. This endpoint-based interface offers highly dynamic interaction and accurate position control (as is typically required for neuromechanics identification), and provides measurements of position, interaction force and electromyography (EMG) of leg muscles. It can be used with the subject upright, corresponding to a natural posture during walking or standing, and does not impose kinematic constraints on a joint, in contrast to existing interfaces. Mechanical evaluations demonstrated that the interface yields a rigidity above 500 N/m with low viscosity. Tests with a rigid dummy leg and linear springs show that it can identify the mechanical impedance of a limb accurately. A smooth perturbation is developed and tested with a human subject, which can be used to estimate the hip neuromechanics.