Volitional Control of a Prosthetic Knee Using Surface Electromyography
Volitional Control of a Prosthetic Knee Using Surface Electromyography
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DOI：
10.1109/tbme.2010.2070840
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发表时间：
2011-01-01
影响因子：
4.6
通讯作者：
Goldfarb, Michael
中科院分区：
文献类型：
--
作者：
Ha, Kevin H.;Varol, Huseyin Atakan;Goldfarb, Michael
本文提出了一种在诸如坐着等非负重活动期间提供动力膝关节假体的意志控制的方法。该方法利用阻抗框架，使得可以用反映完整接头的标称阻抗属性的给定刚度和阻尼对接头进行编程。膝关节的随意运动通过关节阻抗的刚度设定值角度来控制，该设置点角由用户根据从残肢的腿筋和股四头肌测得的表面肌电(EMG)来控制。该方法利用二次判别分析和主成分分析相结合的方法，使使用者屈曲或伸展膝关节的意图与所测得的肌电模式相一致，而不是使用来自这些肌肉的相应的肌电测量来直接控制膝关节的屈曲或伸展设定点。该方法在三名经股动脉截肢者身上实施，通过一组膝关节轨迹跟踪任务来表征他们控制膝关节运动的能力。每个截肢者还在健侧(完好无损)的膝关节上执行相同的轨迹跟踪任务。3个受试者的基于肌电意志控制的人工膝关节和完整膝关节的平均均方根轨迹跟踪误差分别为6.2度和5.2度。
This paper presents a method for providing volitional control of a powered knee prosthesis during nonweight-bearing activity such as sitting. The method utilizes an impedance framework, such that the joint can be programmed with a given stiffness and damping that reflects the nominal impedance properties of an intact joint. Volitional movement of the knee joint is commanded via the stiffness set-point angle of the joint impedance, which is commanded by the user as a function of the measured surface electromyogram (EMG) from the hamstring and quadriceps muscles of the residual limb. Rather than using the respective EMG measurements from these muscles to directly command the flexion or extension set point of the knee, the presented approach utilizes a combination of quadratic discriminant analysis and principal component analysis to align the user's intent to flex or extend the knee joint with the pattern of measured EMG. The approach was implemented on three transfemoral amputees, and their ability to control knee movement was characterized by a set of knee joint trajectory tracking tasks. Each amputee subject also performed the same set of trajectory tracking tasks with his sound side (intact) knee joint. The average root mean square trajectory tracking errors of the prosthetic knee employing the EMG-based volitional control and the intact knee of the three subjects were 6.2 degrees and 5.2 degrees, respectively.