EMG-driven fatigue-based self-adapting admittance control of a hand rehabilitation robot

控制器(灌溉) 物理医学与康复 导纳 康复 机器人 计算机科学 弹道 肌电图 人工神经网络 外骨骼 模拟 刚度 人工智能 物理疗法 工程类 医学 结构工程 生物 电气工程 物理 电阻抗 农学 天文
作者
Maryam Mashayekhi,Majid M. Moghaddam
出处
期刊:Journal of Biomechanics [Elsevier BV]
卷期号:138: 111104-111104 被引量:9
标识
DOI:10.1016/j.jbiomech.2022.111104
摘要

Upper-limb rehabilitation therapy sessions for post-stroke people generally contain rhythmic hand movements in a tiresome manner to rebuild the injured neural circuits. Fatigue formation causes breaks in the training and limits the therapy duration. Therefore, it is essential to establish a correlation between the patient's muscle condition and the rehabilitation exercises to improve the physiotherapy sessions. A self-adapting control method based on online fatigue detection in rhythmic arm movements is presented. Experimental tests were performed on twenty healthy subjects to validate the method's feasibility. Electromyography (EMG) and force signals considered the interfaces between users and the robot. In the first stage of the experiment, utilizing the frequency features from EMG signals, a neural network for fatigue detection trained; however, in the end, it substituted with a simple function as a refinement in the time-consuming aspect for the online employment. The initiation of the fatigue process is followed by reducing the admittance controller damping term based on the EMG signal processing. Trajectory tracking with the robot employs the self-adapting admittance controller (SAAC) method and the non-adapting admittance controller (NAAC). Movement accuracy and smoothness were measured and showed a better performance of the SAAC method related to the NAAC. Simulations with two different stiffness levels were performed on an upper-limb OpenSim model to study a stroke-injured arm and evaluate the proposed method's proficiency. The metabolic cost indicated the movement's superiority in a fatigue situation for reduced environment stiffness.
最长约 10秒,即可获得该文献文件

科研通智能强力驱动
Strongly Powered by AbleSci AI
更新
PDF的下载单位、IP信息已删除 (2025-6-4)

科研通是完全免费的文献互助平台,具备全网最快的应助速度,最高的求助完成率。 对每一个文献求助,科研通都将尽心尽力,给求助人一个满意的交代。
实时播报
繁荣的忆文完成签到,获得积分10
刚刚
qaz123发布了新的文献求助10
刚刚
刚刚
1秒前
1秒前
小怪完成签到,获得积分10
2秒前
FashionBoy应助小甑采纳,获得10
2秒前
在水一方应助周游采纳,获得10
2秒前
爆米花应助科研一号采纳,获得10
3秒前
3秒前
3秒前
3秒前
南山无梅落应助chen采纳,获得10
3秒前
嘻嘻完成签到,获得积分10
3秒前
3秒前
3秒前
ldzjiao完成签到 ,获得积分10
4秒前
素直发布了新的文献求助10
4秒前
4秒前
完美世界应助春实秋华采纳,获得10
4秒前
子衿完成签到,获得积分10
4秒前
独孤蚕完成签到,获得积分10
5秒前
6秒前
6秒前
YMAO发布了新的文献求助10
6秒前
sunnyqqz完成签到,获得积分10
6秒前
木子完成签到,获得积分10
7秒前
来日方长发布了新的文献求助10
7秒前
sdniuidifod发布了新的文献求助10
8秒前
8秒前
uuunnn完成签到,获得积分10
8秒前
快乐小韩发布了新的文献求助10
8秒前
丘比特应助ljxx采纳,获得10
9秒前
9秒前
大模型应助半个桃子采纳,获得30
10秒前
11秒前
勤劳的沛山完成签到 ,获得积分10
11秒前
11秒前
guoke发布了新的文献求助20
11秒前
11秒前
高分求助中
A new approach to the extrapolation of accelerated life test data 1000
Cognitive Neuroscience: The Biology of the Mind 1000
Technical Brochure TB 814: LPIT applications in HV gas insulated switchgear 1000
ACSM’s Guidelines for Exercise Testing and Prescription, 12th edition 500
Picture Books with Same-sex Parented Families: Unintentional Censorship 500
Nucleophilic substitution in azasydnone-modified dinitroanisoles 500
不知道标题是什么 500
热门求助领域 (近24小时)
化学 材料科学 医学 生物 工程类 有机化学 生物化学 物理 内科学 纳米技术 计算机科学 化学工程 复合材料 遗传学 基因 物理化学 催化作用 冶金 细胞生物学 免疫学
热门帖子
关注 科研通微信公众号,转发送积分 3969322
求助须知:如何正确求助?哪些是违规求助? 3514152
关于积分的说明 11172188
捐赠科研通 3249407
什么是DOI,文献DOI怎么找? 1794832
邀请新用户注册赠送积分活动 875437
科研通“疑难数据库(出版商)”最低求助积分说明 804781