| 基于肌电触发的上肢康复训练机器人的实现 |
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| 引用本文： | 方又方,喻洪流,官龙,易金花,张颖,石萍.基于肌电触发的上肢康复训练机器人的实现[J].上海理工大学学报,2015,37(4):355-361. |
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| 作者姓名： | 方又方 喻洪流 官龙 易金花 张颖 石萍 |
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| 作者单位： | 上海理工大学 医疗器械与食品学院, 上海 200093;上海理工大学 医疗器械与食品学院, 上海 200093;上海理工大学 医疗器械与食品学院, 上海 200093;上海理工大学 医疗器械与食品学院, 上海 200093;上海理工大学 医疗器械与食品学院, 上海 200093;上海理工大学 医疗器械与食品学院, 上海 200093 |
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| 基金项目： | 上海市科技支撑项目(12441903400) |
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| 摘 要： | 在三自由度中央驱动式上肢康复训练机器人样机的基础上,通过提取患者的肌电信号,设计了一种肌电触发的助力训练控制方案,达到帮助上肢功能障碍患者进行助力康复训练的目的.运用多种电子技术,提取桡侧腕屈肌和尺侧腕屈肌这一对拮抗肌的表面肌电信号,结合运动系统的分层多核控制方案,实现对患者肌电信号的检测和处理,根据患者的运动意图提供相应的助力动作,实现肌电触发的助力训练模式.进行了肌电信号识别实验和速度调节验证实验,验证了肌电触发的速度可调式助力训练方案的可行性.
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| 关 键 词： | 上肢康复机器人 肌电信号 助力训练 中央驱动 分层控制 |
| 收稿时间： | 6/9/2014 12:00:00 AM |
Implementation of sEMG Triggered Assistance Training on Upper Limb Rehabilitation Robot |
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| FANG Youfang,YU Hongliu,GUAN Long,YI Jinhu,ZHANG Ying and SHI Ping.Implementation of sEMG Triggered Assistance Training on Upper Limb Rehabilitation Robot[J].Journal of University of Shanghai For Science and Technology,2015,37(4):355-361. |
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| Authors: | FANG Youfang YU Hongliu GUAN Long YI Jinhu ZHANG Ying and SHI Ping |
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| Institution: | School of Medical Instrument and Food Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China;School of Medical Instrument and Food Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China;School of Medical Instrument and Food Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China;School of Medical Instrument and Food Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China;School of Medical Instrument and Food Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China;School of Medical Instrument and Food Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China |
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| Abstract: | An assistance training control system based on the prototype of an upper limb rehabilitation robot with three degrees of freedom was presented.The system was designed to detect the patients' real-time intention of moving and realize the assistance training.A variety of electronic technologies were used to capture the surface electromyogram (sEMG) signal of radiocarpus and cubitalis anterior.The sEMG signal was captured and processed by a multi-core hierarchical motion control system.Then, the assistance training was conducted according to the moving intention of the patient.Finally, the sEMG signal identification experiments and speed regulation experiments were performed and the feasibility of the assistance training control system was verified. |
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| Keywords: | upper limb rehabilitation robot electromyogram signal assistance training central drive hierarchical control |
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