一种基于肌肉协同作用的方法来改善机器人辅助运动
María Alejandra Díaz1,2, Parham Haji Ali Mohamadi3,4, Sander De Bock5,3
1Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Brussels, 1050, Belgium. ma.diaz@vub.be.
Scientific reports
|April 4, 2025
概括
这项研究引入了一种使用肌肉协同作用来优化机器人辅助运动恢复的新方法. 个性化协助水平对于有效的康复至关重要,因为个体反应有很大差异.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 神经康复疗法 神经康复疗法
- 生物力学 生物力学
背景情况:
- 辅助机器人设备越来越多地用于神经障碍患者的运动再学习.
- 设计有效的控制策略,利用肌肉协同作用为康复机器人是一个新兴的研究领域.
研究的目的:
- 提出一种基于协同作用的新型目标函数,以评估不同级别的机器人辅助对达到任务期间肌肉协同作用的影响.
- 在不同的机器人辅助条件下,评估健康参与者的运动协调和肌肉激活模式.
主要方法:
- 健康的参与者执行了一个2D达到任务,在持有重量时提供不同级别的机器人辅助.
- 来自七个肌肉的电肌图 (EMG) 信号被记录并分解成肌肉协同作用.
- 定义了三个参考协同效应,并使用了三个指标来量化与这些参考相关的肌肉激活模式的变化.
主要成果:
- 肌肉协同作用在不同的辅助水平上被成功分解和分析.
- 拟议的目标函数表明,在各级援助中,运动协调在统计学上有显著差异.
- 个人对机器人协助的反应各不相同,这表明需要个性化支持.
结论:
- 开发的基于协同作用的目标函数是评估机器人辅助康复中的运动协调的一个有希望的工具.
- 个性化机器人辅助是必不可少的,因为一种适合所有人的方法对所有人来说都不有效.
- 这项研究为未来康复技术中的人在循环优化提供了基础.
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