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确定依赖肌肉激活的人类外骨架合参数的识别

Cheng Huang¹, Shuang Ji¹, Tianyi Sun¹

¹School of Aeronautics and Astronautics, University of Electronic Science and Technology of China, Chengdu, China; Aircraft Swarm Intelligent Sensing and Cooperative Control Key Laboratory of Sichuan Province, University of Electronic Science and Technology of China, Chengdu, China.

Journal of electromyography and kinesiology : official journal of the International Society of Electrophysiological Kinesiology

|November 16, 2024

概括

这项研究引入了一种新的人类外骨模型,该模型使用肌肉激活 (EMG) 信号预测合参数. 该模型增强了对人类外骨架动态的理解,以改善交互设计.

科学领域:

机器人技术机器人技术机器人技术
生物力学生物力学
人与机器的互动人与机器的互动

背景情况:

了解人外骨相互作用动态对于有效的外骨设计至关重要.
准确预测合参数对于改善控制和性能至关重要.
现有的模型往往缺乏适应不同肌肉激活水平的能力.

研究的目的:

提出一个依赖肌肉激活的人类外骨架模型.
预测人类外骨合参数,以进行增强的动态研究.
为复杂的人类外骨交互场景建立一种新型模型.

主要方法:

开发了一个新的实验平台,用于人类外骨合分析.
收集了来自20名志愿者的表面电肌图 (EMG) 信号,以表示肌肉激活.
使用一个卷积神经网络 (CNN) 具有六个EMG特征 (MAV,MAVSLP,WL,WAMP,VAR,AR) 来预测合参数.

主要成果:

美国有线电视新闻网 (CNN) 模型成功预测了人类外骨合参数.
灵敏度分析确定了自动回归 (AR) 系数,平均绝对值 (MAV) 和方差 (VAR) 作为关键决定因素.
在合刚度和MAV和VAR之间发现了强烈的相关性.

结论:

开发的依赖肌肉激活的模型可以预测复杂场景中的合参数.
新的实验平台和建模方法推进了研究人类外骨动态的研究.
这项工作为更适应和直观的外骨控制系统提供了基础.

关键词:

在EMG信号的特征中,EMG信号的特征是:人类-外骨架合力是什么?下肢的下肢是什么意思下肢的下肢是什么意思参数识别和回归的参数识别.

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