基于肱二头肌活动的仿人机械臂度控制

L. He, P. Mathieu
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引用次数: 1

摘要

人的手臂通过肌肉的自觉收缩来进行灵巧的运动。为了产生一个给定的身体动作,一组肌肉通常以一种协同的方式起作用。有可能从协同群中的单个肌肉中提取有关运动的信息。生理上,肱二头肌(BB)参与前臂屈曲和手旋后,也有助于手臂向前和向上抬起。对于BB,协同作用可以来自其不同的隔间,并通过应用于其表面记录的信号的分解算法确定其贡献。在这里,从BB收集的3个信号中提取的协同效应用于控制灵巧的人形手臂操纵器的肩膀、肘关节和手腕关节的一个自由度。因此,协同信息可以帮助上肢截肢者控制现代肌电假肢。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Degree-wise control of an humanoid manipulator based on biceps brachii muscle activity
Human arm performs dextrous movements through the voluntary contraction of muscles. To produce a given body movement, a group of muscles are usually acting in a synergic fashion. It is possible that information about a movement could also be extracted from an individual muscle within a synergic group. Physiologically, the large biceps brachii (BB) muscle is involved in forearm flexion and hand supination and also contributes to raising the arm forward and upward. For the BB, synergy can originate from its different compartments and their contribution identified with a decomposition algorithm applied on signals recorded over its surface. Here, the synergy extracted from 3 signals collected over the BB were used to control one degree of freedom (DoF) of the shoulder, elbow, and wrist joints of a dextrous humanoid arm manipulator. Synergy information could thus be useful for helping an upper-limb amputee person to control a modern myoelectric prosthesis.
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