Robotic lower limb exoskeletons using proportional myoelectric control.
Robotic lower limb exoskeletons using proportional myoelectric control.
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DOI：
10.1109/iembs.2009.5333984
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发表时间：
2009
期刊：
影响因子：
--
通讯作者：
Lewis CL
中科院分区：
文献类型：
--
作者：
Ferris DP;Lewis CL
机器人下肢外骨骼已经被建造出来，用于增强人类的表现，帮助残疾，研究人类生理学，并重新训练运动缺陷。在密歇根大学人类神经力学实验室，我们为最后两个目的建造了气动下肢外骨骼。我们之前的大部分研究都集中在踝关节外骨骼上，因为足底屈肌对步态中的机械功有很大的贡献。我们控制外骨骼的一种方法是比例肌电控制，通过生理控制模式有效地增加佩戴者的力量。健康的人体受试者很快就会适应使用机器人脚踝外骨骼行走，从而减少他们的总体能量消耗。不完全性脊髓损伤的患者通过练习使用脚踝外骨骼行走，已经显示出肌肉招募模式的快速改变。有证据表明，在基础科学和康复方面，比例肌电控制在机器人外骨骼控制方面可能比其他类型的控制具有明显的优势。
Robotic lower limb exoskeletons have been built for augmenting human performance, assisting with disabilities, studying human physiology, and re-training motor deficiencies. At the University of Michigan Human Neuromechanics Laboratory, we have built pneumatically-powered lower limb exoskeletons for the last two purposes. Most of our prior research has focused on ankle joint exoskeletons because of the large contribution from plantar flexors to the mechanical work performed during gait. One way we control the exoskeletons is with proportional myoelectric control, effectively increasing the strength of the wearer with a physiological mode of control. Healthy human subjects quickly adapt to walking with the robotic ankle exoskeletons, reducing their overall energy expenditure. Individuals with incomplete spinal cord injury have demonstrated rapid modification of muscle recruitment patterns with practice walking with the ankle exoskeletons. Evidence suggests that proportional myoelectric control may have distinct advantages over other types of control for robotic exoskeletons in basic science and rehabilitation.