A Comprehensive Framework for the Modelling of Cartesian Force Output in Human Limbs
A Comprehensive Framework for the Modelling of Cartesian Force Output in Human Limbs
复制标题
人体四肢笛卡尔力输出建模的综合框架
DOI：
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发表时间：
2022
期刊：
影响因子：
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通讯作者：
Claudio Castellini
中科院分区：
文献类型：
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作者：
M. Sierotowicz;N. Lotti;R. Rupp;L. Masia;Claudio Castellini
神经肌肉功能电刺激是一种有效的功能康复技术，或以神经假体的形式，为神经科患者提供帮助。然而，通过表面电极对单个肌肉的选择性刺激仍然具有挑战性，特别是对上肢。在本文中，我们介绍了MyoCept，这是一种全面的设置，可以对用户的肌肉骨骼系统进行直观的建模，以及通过多达10个通道以16位的分辨率按比例刺激肌肉。该系统可用于提供开环力控制，如果与适当的身体跟踪系统相结合，可用于实现阻抗控制，其中控制环围绕身体姿势闭合。该系统是完全自给自足的，可以用于从康复到VR再到遥操作的各种场景。在这里，MyoCept的控制环境已经通过与第三方模拟套件的比较进行了实验验证。结果表明，用于MyoCept的肌肉骨骼模型提供了与基线模型中计算的肌肉几何形状定性相似的肌肉几何形状。
Neuromuscular functional electrical stimulation represents a valid technique for functional rehabilitation or, in the form of a neuroprosthesis, for the assistance of neurological patients. However, the selected stimulation of single muscles through surface electrodes remains challenging particularly for the upper extremity. In this paper, we present the MyoCeption, a comprehensive setup, which enables intuitive modeling of the user’s musculoskeletal system, as well as proportional stimulation of the muscles with 16-bit resolution through up to 10 channels. The system can be used to provide open-loop force control, which, if coupled with an adequate body tracking system, can be used to implement an impedance control where the control loop is closed around the body posture. The system is completely self-contained and can be used in a wide array of scenarios, from rehabilitation to VR to teleoperation. Here, the MyoCeption’s control environment has been experimentally validated through comparison with a third-party simulation suite. The results indicate that the musculoskeletal model used for the MyoCeption provides muscle geometries that are qualitatively similar to those computed in the baseline model.