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多元外骨性能评估:综合肌肉能量指数,以确定辅助的质量和数量

Vasco Fanti^1,2, Sergio Leggieri¹, Tommaso Poliero¹

¹Department of Advanced Robotics (ADVR), Istituto Italiano di Tecnologia (IIT), 16163 Genova, Italy.

Bioengineering (Basel, Switzerland)

|January 8, 2025

概括

本研究引入了一种使用集成肌电学 (iEMG) 的新方法,用于评估现实工作任务期间的人类外骨相互作用. 它量化了外骨架的辅助和阻力,为性能提供了更好的洞察力.

科学领域:

生物力学和人机交互的人机交互
职业人体工程学是什么
康复工程康复工程

背景情况:

评估人类外骨相互作用 (pHEI) 对于工作场所的整合至关重要.
当前的肌肉活动分析经常通过使用点值过度简化复杂的任务,忽视信号动态.
现有的方法很难捕捉动态和长时间活动中微妙的相互作用.

研究的目的:

提出一种使用集成电肌图 (iEMG) 评估pHEI的新方法.
分析肌肉活动,考虑任务的动力,持续时间和神经能量.
开发出对外骨辅助和抵抗的可量化的指数.

主要方法:

利用集成电肌图 (iEMG) 信号来分析肌肉活动.
通过考虑任务动态和时间持续时间,开发了一种评估pHEI的方法.
介绍了援助 (AII),阻力 (RII) 和整体相互作用 (OII) 的指数.

主要成果:

提出的基于iEMG的方法有效地突出了外骨改变用户努力的阶段.
计算了可量化的指数 (AII,RII,OII) 来衡量能量交换.
该方法成功地应用于被动 (Laevo) 和主动 (XoTrunk,StreamEXO) 的背部支外骨.

结论:

基于iEMG的方法提供了对pHEI的动态和全面评估.
这种方法为外骨开发人员和控制器设计人员提供了宝贵的见解.
它增强了对外骨性能和用户机器人交互质量的理解.

关键词:

集成的EMG集成的EMG.肌肉分析肌肉分析职业外骨架是职业外骨架.绩效评价绩效评价绩效评价绩效评价绩效评价物理人机交互物理人机交互

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