Medial gastrocnemius myoelectric control of a robotic ankle exoskeleton.
Medial gastrocnemius myoelectric control of a robotic ankle exoskeleton.
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DOI：
10.1109/tnsre.2008.2008285
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发表时间：
2009-02
期刊：
影响因子：
--
通讯作者：
Ferris DP
中科院分区：
文献类型：
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作者：
Kinnaird CR;Ferris DP
我们实验室以前的一项研究表明，当比目鱼肌肌电图用于控制机器人踝关节外骨骼的跖屈辅助量时，受试者显著减少了比目鱼肌活动，以快速恢复正常的步态运动学。我们推测，受试者主要是响应于外骨骼的局部机械辅助，而不是直接试图通过减少比目鱼肌活动来减少外骨骼机械功率。为了测试这一观察结果，我们研究了10名健康受试者，他们在跑步机上以1.25 m/s的速度行走，同时穿着由内侧腓肠肌激活按比例控制的机器人外骨骼。我们假设，受试者将主要减少比目鱼肌活动，由于其协同力学与外骨骼。受试者的内侧腓肠肌募集减少了12%（p<0.05），但比目鱼肌募集减少了27%（p<0.05）。与我们的假设一致，肌肉活动的主要减少不是针对控制肌肉（内侧腓肠肌），而是针对外骨骼的解剖学上的限制（比目鱼肌）。这些发现表明，在设计机器人外骨骼的软件和硬件时，需要仔细考虑解剖形态。
A previous study from our laboratory showed that when soleus electromyography was used to control the amount of plantar flexion assistance from a robotic ankle exoskeleton, subjects significantly reduced their soleus activity to quickly return to normal gait kinematics. We speculated that subjects were primarily responding to the local mechanical assistance of the exoskeleton rather than directly attempting to reduce exoskeleton mechanical power via decreases in soleus activity. To test this observation we studied ten healthy subjects walking on a treadmill at 1.25 m/s while wearing a robotic exoskeleton proportionally controlled by medial gastrocnemius activation. We hypothesized that subjects would primarily decrease soleus activity due to its synergistic mechanics with the exoskeleton. Subjects decreased medial gastrocnemius recruitment by 12% (p<0.05) but decreased soleus recruitment by 27% (p<0.05). In agreement with our hypothesis, the primary reduction in muscle activity was not for the control muscle (medial gastrocnemius) but for the anatomical synergist to the exoskeleton (soleus). These findings indicate that anatomical morphology needs to be considered carefully when designing software and hardware for robotic exoskeletons.