Estimation of Ankle Joint Continuous Motion Based on Electromyographic Signals
文献类型：会议论文
| 作者 | Meng FG(孟凡刚)2,3; Zhang B(张弼)1,2 ; Zhao XG(赵新刚)1,2; Sui J(眭晋)1,2
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| 出版日期 | 2020 |
| 会议日期 | November 6-8, 2029 |
| 会议地点 | Shanghai, China |
| 关键词 | EMG Hammerstein model ankle joint angle continuous estimation |
| 页码 | 6399-6406 |
| 英文摘要 | Human electromyogram (EMG) contains abundant body movement information, which is often used as the information medium of human-robot interaction. Precisely analyzing the muscle activity information contained in the patient's EMG and using it for the motion control of the rehabilitation robot is of great significance in the rehabilitation training process. Aiming at the problem that ankle rehabilitation robot needs to use the patient's EMG to identify the ankle motion intention and estimate the angle of continuous motion in the human-robot interactive rehabilitation training, this paper proposes a new method based on the patient's EMG to directly identify the type of ankle motion and estimate the continuous motion angle of the joint. Considering the nonlinear relationship between EMG and joint motion angles, Hammerstein model is selected to describe the relationship between them. The linear and nonlinear structure of the Hammerstein model simplifies the difficulty of model identification. First, obtain the real motion angle of the ankle joint while collecting the EMG of the muscles related to the ankle joint motion, and use the threshold judgment method to complete the recognition of the ankle joint motion intention. Then, use the EMG as the input of the motion model and the real motion angle of the ankle joint as the motion model output, identify and obtain the Hammerstein motion model of plantarflexion motion and dorsiflexion motion respectively. Finally, use EMG as the input of the recognized model to estimate the continuous motion angle of the ankle joint. The experiment shows that the motion model established by the method in this paper can realize the recognition of the motion intention of the ankle joint and the accurate estimation of the continuous motion angle, this method is worth promoting. |
| 产权排序 | 1 |
| 会议录 | Proceedings - 2020 Chinese Automation Congress, CAC 2020
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-7281-7687-1 |
| WOS记录号 | WOS:000678697006095 |
| 源URL | [http://ir.sia.cn/handle/173321/28375]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 通讯作者 | Meng FG(孟凡刚) |
| 作者单位 | 1.Institutes of Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 3.College of Information Science and Engineering, Northeastern University, Shenyang, China |
| 推荐引用方式 GB/T 7714 | Meng FG,Zhang B,Zhao XG,et al. Estimation of Ankle Joint Continuous Motion Based on Electromyographic Signals[C]. 见:. Shanghai, China. November 6-8, 2029. |
入库方式： OAI收割
来源：沈阳自动化研究所
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