Physiological analysis of sustainable human-power assistive robot collaboration

使用等速运动机模拟人与动力辅助之间的协作，并使用肌电图检查根据肘关节屈曲/伸展运动的机械条件的相关肌群（二头肌、三头肌和三角肌）的活动趋势。在初步实验中，参与者被要求在等速机器的手臂上保持强扭矩或弱扭矩几秒钟，并等长肘部屈曲，并且在此条件匹配的时刻，在固定的角度范围内给予辅助。初步实验结果表明，在两种目标扭矩条件下，肱二头肌的活动在助力后即刻急剧下降，而三头肌和三角肌的活动在助力后即刻有一定时间的增加趋势。特别是在目标力矩相对较弱的情况下，这些相关肌肉的活动显著。即使需要更多的样本，到目前为止的结果可能表明，与众所周知的机械辅助对激动剂肌肉的好处，辅助低负荷运动的运动控制增加姿势稳定性，通过激活和涉及其他相关的肌肉。需要进一步的研究来验证这些机制是否在更大的样本和任何用户组中匹配。此外，相关肌肉的长期参与是否起到分担负荷的作用（积极影响）或导致相关肌肉的不必要负荷（负面影响）需要调查。

A collaboration between human and power assistance was simulated using an isokinetic movement machine, and activity trends of related muscle groups (biceps, triceps, and deltoid muscles) according to the mechanical conditions of elbow flexion/extension movement were examined using electromyography. In the preliminary experiment, participants were asked to hold a strong torque or a weak torque for a few seconds with isometric elbow flexion on the arm of the isokinetic machine, and at the moment this condition was matched, assistance was given in a fixed angular range. Preliminary experiment results showed that under the two target torque conditions, the activity of the biceps sharply decreased immediately after the assistance, but the activity of the triceps and deltoid muscle tended to increase for a certain time immediately after the assistance. In particular, the activity of these related muscles was remarkable in the condition of relatively weak target torque. Even if more samples are needed, the results so far might suggest that together with the well-known benefit of mechanical assistance on the agonist muscle, motor control for assisted low-load movement increases postural stability by activating and involving the other relevant muscle. Further research is needed to verify whether these mechanisms match in larger samples and any user groups. Furthermore, whether the involvement of the relevant muscles in the long term plays a role in sharing the load (positive effect) or causes the unnecessary load to the related muscles (negative effect) need to be investigated.