基于肌力图信号的1自由度弯头助力系统的研制

2021 IEEE International Conference on Progress in Informatics and Computing (PIC) Pub Date : 2021-12-17 DOI:10.1109/PIC53636.2021.9687051

Bin Zhang, Kenji Isobe, Hun-ok Lim

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引用次数: 0

摘要

提出了一种利用机械肌力图(MMG)信号辅助肘关节屈曲运动的1自由度动力辅助系统。当手臂运动时，MMG传感器附着在肱二头肌的皮肤上，以监测肌肉的运动。为了估计肘关节屈曲力矩，使用了hill型肌肉模型和手臂肌肉骨骼模型。将估计的关节力矩代入导纳控制系统，计算出弯头关节角。进行了动力辅助实验，验证了动力辅助系统的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Development of a 1-DOF Elbow Power Assisting System Based on Mechanomyogram Signals

This paper presents a 1-DOF (degree-of-freedom) power assisting system that can assist elbow flexion motion by using mechanomyogram (MMG) signals. An MMG transducer is attached to the skin of biceps brachii to monitor muscle actions when the arm is moving. To estimate elbow flexion joint torques, a Hill-type muscle model and a musculoskeletal model of the arm are used. The estimated joint torques are substituted into the admittance control system, and the elbow joint angle is calculated. Power assisting experiments are conducted, and the effectiveness of the power assist system is verified.

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2021 IEEE International Conference on Progress in Informatics and Computing (PIC)

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