具有自我注意机制的多层CNN-LSTM网络,用于对非线性不确定的系统进行可靠的估计
Lin Liu1, Jun Feng1,2, Jiwei Li2,3,4
1College of Information Science and Engineering, Northeastern University, Shenyang, Liaoning, China.
Frontiers in neuroscience
|April 19, 2024
概括
这项研究引入了一个具有自我注意力的CNN-LSTM网络,用于从表面肌电图 (sEMG) 信号中预测人类运动. 该模型准确地估计了健康和半患者的脚关节运动,改善了康复机器人的互动.
科学领域:
- 生物医学工程 生物医学工程
- 机器人技术 机器人技术 机器人技术
- 康复科学 康复科学 康复科学
背景情况:
- 卒中幸存者经常经历下肢运动功能障碍,需要先进的康复策略.
- 在康复中,有效的人机交互取决于通过表面电肌图 (sEMG) 准确地识别人类运动意图.
- 目前基于sEMG的系统面临信号变化和非理想条件的挑战,限制了临床应用.
研究的目的:
- 开发一个先进的预测网络,用于从sEMG信号中准确的自回归预测人类运动信息.
- 增强用于康复机器人的sEMG信号处理的特征提取和全球性能.
- 提高基于sEMG的模式识别的准确性和稳定性,以实现不受阻碍的人机交互.
主要方法:
- 设计了一个多层卷积神经网络 (CNN) 和长期短期记忆 (LSTM) 预测网络.
- 该网络包含一个自我注意机制 (SAM),以改进全球特征提取和并行计算.
- CNN层提取初始特征,而LSTM则从sEMG数据中增强历史时间序列特征.
主要成果:
- 拟议的模型在健康受试者中实现了各种运动状态的高预测准确性 (R > 0.9).
- 对于半截肢患者,该模型在受影响侧的未经训练的数据上显示出出色的角度预测 (R > 0.99).
- 该算法在与使用真实数据的现有方法相比,证明了其优越性和实用性.
结论:
- 该研究成功实现了对健康和半患者的脚关节连续运动估计.
- 开发的模型在非理想的sEMG信号条件下提高了模式识别的准确性和稳定性.
- 这一进步为改善临床环境中的智能康复和人机交互带来了巨大的潜力.
相关概念视频
01:26Linear Approximation in Frequency Domain
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Linear systems are characterized by two main properties: superposition and homogeneity. Superposition allows the response to multiple inputs to be the sum of the responses to each individual input. Homogeneity ensures that scaling an input by a scalar results in the response being scaled by the same scalar.
In contrast, nonlinear systems do not inherently possess these properties. However, for small deviations around an operating point, a nonlinear system can often be approximated as linear....
In contrast, nonlinear systems do not inherently possess these properties. However, for small deviations around an operating point, a nonlinear system can often be approximated as linear....
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01:22Multi-input and Multi-variable systems
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In the absence...
In the absence...
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01:23Linear time-invariant Systems
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A system is linear if it displays the characteristics of homogeneity and additivity, together termed the superposition property. This principle is fundamental in all linear systems. Linear time-invariant (LTI) systems include systems with linear elements and constant parameters.
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The input-output behavior of an LTI system can be fully defined by its response to an impulsive excitation at its input. Once this impulse response is known, the system's reaction to any other input can be...
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01:26Classification of Systems-I
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Linearity is a system property characterized by a direct input-output relationship, combining homogeneity and additivity.
Homogeneity dictates that if an input x(t) is multiplied by a constant c, the output y(t) is multiplied by the same constant. Mathematically, this is expressed as:
Homogeneity dictates that if an input x(t) is multiplied by a constant c, the output y(t) is multiplied by the same constant. Mathematically, this is expressed as:
184
01:26Feedback control systems
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Feedback control systems are categorized in various ways based on their design, analysis, and signal types.
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
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307