电气传动2024，Vol.54Issue(1)：83-91,9.DOI:10.19457/j.1001-2095.dqcd24614
基于表面肌电信号的上肢康复机器人变阻抗控制技术研究
Research on Variable Impedance Control Technology of Upper Limb Rehabilitation Robot Based on sEMG
摘要
Abstract
There are many elderly people with limb disorder in China,and exercise rehabilitation technology is an effective means of rehabilitation treatment.However,the serious imbalance of doctor-patient ratio makes it difficult for everyone to enjoy rehabilitation medical services.Impedance control technology is used for the safe interaction between rehabilitation robot and human body.However,constant impedance control is used in the existing rehabilitation robots,which has weak environmental adaptability and is difficult to be applied in clinical practice.In view of the above problems,a variable impedance control method was proposed.The user's surface electromyography signal(sEMG)was collected as input,and his upper limb motion angle was trained and recognized by the improved random forest algorithm.With the end force sensor,the motion intention was obtained,and then the rehabilitation motion was completed by the variable impedance controller.The experimental platform was built,and the track tracking and rehabilitation training abilities were verified and evaluated.The results show that the designed controller could control the robot to complete rehabilitation movement.关键词
康复机器人/表面肌电信号/改进随机森林算法/变阻抗Key words
rehabilitation robot/surface electromyography signal(sEMG)/improved random forest algorithm/variable impedance分类
计算机与自动化引用本文复制引用
吴彤,李健,李国栋,刘路,朱立国,冯敏山..基于表面肌电信号的上肢康复机器人变阻抗控制技术研究[J].电气传动,2024,54(1):83-91,9.基金项目
国家中医药管理局中医药创新团队及人才支持计划项目(ZYYCXTD-C-202003) （ZYYCXTD-C-202003）
北京理工大学实验室研究项目(2019BITSYA14) （2019BITSYA14）
中国中医科学院科技创新工程《腰椎扳动类手法教学培训系统的研发》(C12021A02014) （C12021A02014）
