Myoelectric controlled trunk orthosis to support rollover of patients with cancer bone metastasis

基于气动人造橡胶肌肉（PARM）限制躯干扭转运动范围（ROM），研制了一种支持癌症骨转移患者侧翻运动的机器人躯干矫形器。确定了机器人矫形器的规格，使其能够以与传统硬矫形器相同的方式执行。利用肌电图（EMG）信号检测机器人矫形器的侧翻意图，利用微宏观神经网络识别侧翻，利用PARM限制躯干ROM，对机器人矫形器系统进行了评价。通过实验，将机器人矫形器与定制硬质矫形器的ROM限制能力进行比较，验证了机器人矫形器在侧翻运动中的有效性。

Based on a pneumatic artificial rubber muscle(PARM) to restrict trunk-twisting range of motion(ROM), a robotic trunk orthosis was developed to support the rollover movement of cancer bone metastasis patients. The specifications of the robotic orthosis were determined so that it could perform in the same way as a traditional hard orthosis. Systems of the robotic orthosis were evaluated for detecting the intention of rollover using the electromyogram(EMG) signal, recognizing rollover by a micro macro neural network, and restricting trunk ROM using PARM. Through experimentation, the effectiveness of the robotic orthosis in rollover movements was confirmed by comparing its capability to restrict ROM with that of the customized hard orthosis.