基于神经肌肉机械融合的辅助外骨架的连续运动模式和任务识别
Yao Liu1,2,3, Chunjie Chen1,2,3, Zhuo Wang1,2
1Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China.
Bioengineering (Basel, Switzerland)
|February 23, 2024
概括
这项研究开发了一个新的界面来识别人类行走任务和辅助外骨架的模式. 它达到98.7%的准确性,可以实现更好的人机协作和无过渡.
科学领域:
- 生物力学 生物力学
- 机器人技术 机器人技术 机器人技术
- 人与计算机的交互
背景情况:
- 人类行走在地形,速度和负载方面表现出变化.
- 当前的辅助外骨架往往忽视了运动任务的识别,这对于有效的控制至关重要.
- 无的人类外骨交互需要精确识别运动模式和任务.
研究的目的:
- 开发一个界面来识别人类的运动模式 (水平/倾斜) 和任务 (速度/负载).
- 为实时辅助决策创建一个神经肌肉机械融合算法.
- 优化算法参数以实现精确的人机同步.
主要方法:
- 招募了七名身体健康的参与者来探索水平/倾斜模式和速度/负载任务.
- 研究了最佳算法,特征集 (表面肌电学加速),窗口增量和长度.
- 使用支向量机器分类器来进行运动识别.
主要成果:
- 实现了98.7%±1.3%的平均识别准确度.
- 确定了最佳参数:支向量机,根平均正方形/波形长度/加速特征,窗口长度为170,窗口增量为20.
- 证明了表面电肌图加速用于移动识别的有效使用.
结论:
- 开发的界面可以准确和及时识别人类的移动方式和任务.
- 表面电肌图加速融合对于强大的运动识别是有效的.
- 这一进步促进了对外骨的改进控制,以实现无的人机协作和过渡.
相关概念视频
01:20Motor Unit Stimulation
When the neuron of a motor unit fires an action potential, it triggers a series of events, leading to a twitch contraction in the muscle fibers. The process of excitation-contraction coupling is crucial in relaying the action potential to the muscle fibers.
The latent period of contraction marks the onset of excitation-contraction coupling, when the action potential propagates across the sarcolemma, preparing the muscle fibers for contraction. As the fibers enter the contraction phase, the...
The latent period of contraction marks the onset of excitation-contraction coupling, when the action potential propagates across the sarcolemma, preparing the muscle fibers for contraction. As the fibers enter the contraction phase, the...
01:24Muscle Coordination and Action
Muscle coordination is a complex and finely tuned process essential for smooth and purposeful movements like flexion, extension, adduction, abduction, and rotation. The human body orchestrates the actions of various muscles working in concert, each with a specific role. Four functional types describe how muscles work together: agonist, antagonist, synergist, and fixator.
Agonists
Agonist muscles, often called prime movers, are the primary muscles responsible for producing a specific movement.
Agonists
Agonist muscles, often called prime movers, are the primary muscles responsible for producing a specific movement.