控制EMG的膝关节节骨架可以降低坐立的劳动力
Marc-Anton Scheidl1, Kristin Schuh1, Marek Sierotowicz1
1Assistive Intelligent Robotics Lab, AIBE, Friedrich-Alexander Universität, Erlangen, Germany.
Frontiers in robotics and AI
|January 26, 2026
概括
这项研究表明,使用EMG驱动控制的新型膝关节支架在坐站运动中显著减少四头骨的劳动力. 动力骨架可提高肌肉激活的一致性,而不妨碍自然协调.
科学领域:
- 生物力学 生物力学
- 康复工程 康复工程 康复工程
- 人类运动科学科学 人类运动科学
背景情况:
- 坐立转变 (STS) 是一种基本的日常活动,需要显著的四头肌肌力努力.
- 辅助设备有可能减少STS期间的肌肉负荷,但往往缺乏适应性或是繁的.
- 电肌图 (EMG) 驱动的控制为开发响应性和个性化的整形辅助提供了一个有希望的途径.
研究的目的:
- 评估轻量级,低成本的膝关节节骨架与EMG驱动阻抗控制在STS过渡期间减少四头肌肌力的有效性.
- 评估动力整形辅助对肌肉激活幅度和可变性的影响.
主要方法:
- 一项试点研究涉及十名健康成年人在三个条件下进行STS过渡:没有orthosis,无动力orthosis和动力orthosis.
- 从大腿肌肉记录了表面EMG,并处理了信号以动态控制orthosis的膝盖硬度.
- 分析的重点是不同运动阶段平均纠正EMG (ARV) 的中位数值和试验对试验差异.
主要成果:
- 动力整形辅助在STS上升和下降阶段显著降低四头肌肌激活 (ARV) (p < 0.001).
- 在支架肢体上观察到更大的肌肉努力减少和神经肌肉一致性的改善.
- 在逆侧肢体中没有发现显著的补偿激活,参与者表现出准备扭矩的自适应性增加.
结论:
- 在膝关节骨架中,一个快速,最小校准的EMG驱动阻抗控制器有效地减少了STS期间的四头肌激活,而不会影响运动协调.
- 这项技术显示出增强移动性和减少日常活动中肌肉疲劳的潜力.
- 限制包括扭矩容量,建议进一步研究更广泛的用户适用性和动力学验证.
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