Ankle rehabilitation robot control based on biological signals
文献类型：会议论文
| 作者 | Zhao XG(赵新刚) ; Ye D(叶丹); Sun, Huabao
|
| 出版日期 | 2017 |
| 会议名称 | 29th Chinese Control and Decision Conference, CCDC 2017 |
| 会议日期 | May 28-30, 2017 |
| 会议地点 | Chongqing, China |
| 关键词 | sEMG Ankle rehabilitation Ankle joint angle |
| 页码 | 6090-6095 |
| 通讯作者 | Zhao XG(赵新刚) |
| 中文摘要 | The movement recovery of ankle is extremely important for patients with ankle injuries especially with the stroke hemiplegia. In this paper, a novel control method of ankle rehabilitation robot is proposed to provide continuous motion assistant. Ankle joint torque is estimated based on EMG signals to establish the relationship between joint torque and joint angle. In detail, we firstly apply a LDA algorithm for recognizing the motor patterns of ankle using two channels EMG signals collected from anterior tibial (TA) and gastrocnemius (GA). Then, the corresponding BP neural network model established in previous is selected according to identified motion pattern. The muscle activity related with identified motion pattern is used as the inputs of the BP neural network model to estimate the relevant joint torque. In order to meet the requirements of movement range for the subjects with different rehabilitation conditions, the subjects just need reset the angle range to achieve the control of continuous ankle motion with adjustable amplitude. Experimental results on nine subjects demonstrated that the ankle motion intention can be precisely predicted in advance, and the angle range of ankle motion were also adjustable based on the requirements of subjects. Key Words: sEMG, Ankle rehabilitation, Ankle joint angle. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISSN号 | 1948-9439 |
| ISBN号 | 978-1-5090-4656-0 |
| WOS记录号 | WOS:000427082201070 |
| 源URL | [http://ir.sia.cn/handle/173321/20862]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 作者单位 | 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang, 110016, China 2.College of Information Science and Engineering, Northeastern University, Shenyang, 110004, China |
| 推荐引用方式 GB/T 7714 | Zhao XG,Ye D,Sun, Huabao. Ankle rehabilitation robot control based on biological signals[C]. 见:29th Chinese Control and Decision Conference, CCDC 2017. Chongqing, China. May 28-30, 2017. |
入库方式： OAI收割
来源：沈阳自动化研究所
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