论文标题
EMG驱动的肌肉骨骼模型的设计，用于自动脚踝假体的自愿控制
Design of EMG-driven Musculoskeletal Model for Volitional Control of a Robotic Ankle Prosthesis
论文作者
论文摘要
现有的机器人下限假体使用自主控制来解决周期性的机车任务，但它们不足以在非环保和不可预测的日常活动中操作假体。为了应对这一挑战，这项研究旨在设计一种新型肌电图（EMG）驱动的肌肉骨骼模型，用于对机器人脚踝脚步的自愿控制。该控制器使用户不断控制设备，从而使他们可以随意操纵假体行为。丘陵型肌肉模型用于对背屈和plot骨模型进行建模，该模型围绕虚拟踝关节起作用。通过将模型预测拟合到从健全的受试者中收集的实验数据中确定模型参数。从脚踝激动剂和拮抗剂肌肉对记录的EMG信号用于激活虚拟肌肉模型。通过离线模拟和实时假体控制对该模型进行了验证。此外，还展示了提议的假体控制对帮助用户功能任务的可行性。目前的控制可能会进一步改善机器人假体在支持下LIMB截肢者中的多功能活动方面的功能。
Existing robotic lower-limb prostheses use autonomous control to address cyclic, locomotive tasks, but they are inadequate to operate the prosthesis for daily activities that are non-cyclic and unpredictable. To address this challenge, this study aims to design a novel electromyography (EMG)-driven musculoskeletal model for volitional control of a robotic ankle-foot prosthesis. This controller places the user in continuous control of the device, allowing them to freely manipulate the prosthesis behavior at will. The Hill-type muscle model was used to model a dorsiflexor and a plantarflexor, which functioned around a virtual ankle joint. The model parameters were determined by fitting the model prediction to the experimental data collected from an able-bodied subject. EMG signals recorded from ankle agonist and antagonist muscle pair were used to activate the virtual muscle models. This model was validated via offline simulations and real-time prosthesis control. Additionally, the feasibility of the proposed prosthesis control on assisting the user's functional tasks was demonstrated. The present control may further improve the function of robotic prosthesis for supporting versatile activities in individuals with lower-limb amputations.
