Estimation of continuous elbow joint movement based on human physiological structure
文献类型：期刊论文
| 作者 | Zhang JH(张建华)1,2 ; Li, Kexiang2; Liu X(刘璇)2; Zhang ML(张明路)2
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| 刊名 | BIOMEDICAL ENGINEERING ONLINE
 |
| 出版日期 | 2019 |
| 卷号 | 18页码:1-15 |
| 关键词 | Intention recognition Elbow movement Upper-limb physiological structure Biomechanical Surface electromyography Genetic algorithm |
| ISSN号 | 1475-925X |
| 产权排序 | 2 |
| 英文摘要 | ObjectiveHuman intention recognition technology plays a vital role in the application of robotic exoskeletons and powered exoskeletons. However, the precise estimation of the continuous motion of each joint represents a major challenge. In the current study, we present a method for estimating continuous elbow joint movement.MethodsWe developed a novel approach for estimating the elbow joint angle based on human physiological structure. We used surface electromyography signals to analyze the biomechanical properties of the muscle and combined it with physiological structure to achieve a model for estimating continuous motion. And a genetic algorithm was used to optimize unknown parameters.ResultsWe performed extensive trials to verify the generalizability and effectiveness of this method. The trial types included elbow joint motion with single cycle trials, typical cycle trials, gradually increasing amplitude trials, and random movement trials for handheld loads of 1.25 and 2.5kg. The results revealed that the average root-mean-square errors ranged from 0.12 to 0.26rad, reflecting an appropriate level of estimation accuracy.ConclusionEstablishing a reasonable physiological model and applying an efficient optimization algorithm enabled more accurate estimation of the joint angle. The proposed method provides a theoretical foundation for robotic exoskeletons and powered exoskeletons to understand the intentions of human continuous motion. |
| WOS关键词 | ESTIMATE MUSCLE FORCES ; EMG-DRIVEN MODEL ; MOMENTS |
| 资助项目 | National Natural Science Foundation of China[51575157] ; National Natural Science Foundation of China[61473113] ; Natural Science Foundation of Hebei Province[E2016202342] ; State Key Laboratory of Robotics[2015002] ; Beijing Advanced Innovation Center for Intelligent Robots and Systems[2018IRS04] |
| WOS研究方向 | Engineering |
| 语种 | 英语 |
| WOS记录号 | WOS:000462311900004 |
| 资助机构 | National Natural Science Foundation of China ; Natural Science Foundation of Hebei Province ; State Key Laboratory of Robotics ; Beijing Advanced Innovation Center for Intelligent Robots and Systems |
| 源URL | [http://ir.sia.cn/handle/173321/24472]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 通讯作者 | Zhang JH(张建华) |
| 作者单位 | 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 2.School of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, China |
| 推荐引用方式 GB/T 7714 | Zhang JH,Li, Kexiang,Liu X,et al. Estimation of continuous elbow joint movement based on human physiological structure[J]. BIOMEDICAL ENGINEERING ONLINE,2019,18:1-15. |
| APA | Zhang JH,Li, Kexiang,Liu X,&Zhang ML.(2019).Estimation of continuous elbow joint movement based on human physiological structure.BIOMEDICAL ENGINEERING ONLINE,18,1-15. |
| MLA | Zhang JH,et al."Estimation of continuous elbow joint movement based on human physiological structure".BIOMEDICAL ENGINEERING ONLINE 18(2019):1-15. |
入库方式： OAI收割
来源：沈阳自动化研究所
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