基于肌电-角度关系的上肢控制方法可行性研究

IF 1.9 4区工程技术 Q3 ENGINEERING, MECHANICAL

Journal of Computational and Nonlinear Dynamics Pub Date : 2023-02-16 DOI:10.1115/1.4056918

Bianca Lento, Y. Aoustin, T. Zielińska

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引用次数: 0

摘要

讨论了利用模糊逻辑神经网络根据肌电信号推断人体上肢角度的方法。考虑了矢状面的平面运动，对两种肌电信号进行了分析。采用模糊逻辑人工神经网络对肌电信号进行处理。该网络预测角轨迹。根据电流与预定角位置的差值，采用简化的动力学模型确定驱动力矩。为了验证该方法，将实际角度与预测角度进行了比较。研究了用预测角轨迹和简化动力学计算的扭矩与OpenSim模拟器使用真实数据计算的扭矩之间的差异。所获得的结果证实了概念的正确性及其在控制假肢或外骨骼方面的实用性。

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Feasibility Study of Upper Limb Control Method Based On EMG-Angle Relation

The method of inferring the human upper limb angles basis on EMG signals with the use of fuzzy logic neural network is discussed. The planar motion in sagittal plane is taken into account, and two EMG signals are analyzed. An artificial neural network with fuzzy logic is used to process EMG signals. The network predicts angular trajectories. On the basis of the difference between the current and the intended angular position, the driving torques are determined using simplified dynamic model. To verify the method, the real and predicted angles are compared. The difference between the torques evaluated using predicted angular trajectories and simplified dynamics, and the torques delivered by the OpenSim simulator using the true data is also studied. Obtained results confirm the correctness of the concept and its usefulness for controlling prostheses or exoskeletons.

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来源期刊

Journal of Computational and Nonlinear Dynamics 工程技术-工程：机械

CiteScore

4.00

自引率

10.00%

发文量

审稿时长

6-12 weeks

期刊介绍： The purpose of the Journal of Computational and Nonlinear Dynamics is to provide a medium for rapid dissemination of original research results in theoretical as well as applied computational and nonlinear dynamics. The journal serves as a forum for the exchange of new ideas and applications in computational, rigid and flexible multi-body system dynamics and all aspects (analytical, numerical, and experimental) of dynamics associated with nonlinear systems. The broad scope of the journal encompasses all computational and nonlinear problems occurring in aeronautical, biological, electrical, mechanical, physical, and structural systems.