机器人2026，Vol.48Issue(2)：217-225,9.DOI:10.13973/j.cnki.robot.250137
基于EMG监督的鳞片式气动腕外骨骼等速训练控制方法
Isokinetic Training Control Method of Scaled-type Pneumatic Wrist Exoskeleton Based on EMG Supervision
摘要
Abstract
Conventional isokinetic wrist training devices are often constrained by high costs,single application scenario,and limited patient engagement.This paper presents a portable,low-cost scale-like pneumatic wrist exoskeleton and an EMG(electromyogram)supervised isokinetic control strategy designed to facilitate active rehabilitation.Firstly,a reconfigurable soft pneumatic actuator is designed based on a multi-chamber scale-like airbag array,which is integrated into a flexible wearable wrist exoskeleton tailored to wrist kinematics.Secondly,an EMG-supervised chain impedance control method is proposed,which maps EMG-weighted neural activation dynamically to actuation stiffness.Finally,a prototype of scale-like pneumatic actuator is developed for mechanical testing.By integrating the actuator and the hardware system,an isokinetic wrist training prototype is developed for the experiment of active engagement evaluations.Experimental results confirm that the drive model accurately characterizes output force,and the motion range of the exoskeleton meets functional requirements of wrist training.In the experiment of active engagement evaluations,the voluntary force generation is enhanced by 30%through EMG supervision,demonstrating the effectiveness of the proposed method.关键词
腕关节康复/等速训练/可穿戴/主动参与Key words
wrist joint rehabilitation/isokinetic training/wearable/active engagement引用本文复制引用
许蓉娜,孟巧玲,严文浩,邓淞苧,喻洪流..基于EMG监督的鳞片式气动腕外骨骼等速训练控制方法[J].机器人,2026,48(2):217-225,9.基金项目
国家重点研发计划(2022YFC3601103) （2022YFC3601103）
上海市自然科学基金(23ZR1444200). （23ZR1444200）
