假肢手恒定力量输出的诱发肌电反馈控制研究  

Feedback control of the prosthetic hand stable force output with the evoked EMG

作　　者：郭宇峰[1] 侯文生[1,2] 吴小鹰[1,2] 廖彦剑[1,2] 万小萍[1,2] 

机构地区：[1]重庆大学生物流变科学与技术教育部重点实验室,重庆400044 [2]重庆市医疗电子工程技术研究中心,重庆400044

出　　处：《仪器仪表学报》2016年第4期904-911,共8页Chinese Journal of Scientific Instrument

基　　金：国家科技支撑计划(2012BAI16B02);国家863项目(2015AA042303);国家自然科学基金(31470953;30970758);重庆大学2015年研究生科研创新基金项目资助

摘　　要：肌电假肢手的连续动态控制有益于提高假肢手的使用性能和用户对假肢手的交互控制能力,产生持续稳定的力量是假肢手需要完成的一种常见任务,但是疲劳、注意力分散等诸多因素都可能导致肌电信号发生变化从而影响假肢手稳定力量输出。本文提出了一种基于电刺激诱发肌电的假肢手稳定力量输出控制方法,通过电刺激尺神经诱发肌电信号对假肢手恒定力量输出进行持续控制。为验证方法可行性,招募了7名健康被试,首先测试了稳定抓握过程中注意力分散对屈肌肌电活动水平的影响,并确定电刺激强度与诱发肌电(M波)幅度的关系模型;在此基础上,测试了电刺激在注意力分散过程中是否能诱发出预期的肌电信号。结果表明注意力分散会引起肌电信号幅度下降,通过电刺激方法可以得到恒定的肌电输出;同时,通过调节刺激参数可以控制诱发肌电强度,可为肌电假肢手的稳定力量输出提供有效的控制信号。The continuously control of myoelectric prosthesis is helpful to improve the performance and the user interaction control of pros- thetic hand, and producing stable force is a common task for prosthetic hand. However, muscle fatigue and distraction of attention can attenuate sEMG and degrade the stability of force production. Here, a new method is presented to produce stable force based on the e- voked EMG, by which the electrical pulse is used to induce the EMG （M wave） by stimulating ulnar nerve. To assess the feasibility of the propsoed control method, the impact of distraction on EMG intensity of flexor during stable grip is measured. The relationship be- tween the electrical stimulation intensity and the amplitude of M wave is investigated. An experiment is designed to test whether the elec- trical stimulation on ulnar nerve can evoke expected EMG from flexor of forearm. The preliminary results show that the sEMG intensity is declined with the distraction, and electrical stimulation on ulnar nerve can evoked expected EMG signals in forearm muscle. The present work reveals that it is possible to provide appropriate control signals for the stable force output by changing the stimulus parameters.

关 键 词：诱发肌电信号 肌电假肢手 反馈控制 注意力分散 

分 类 号：TP911.7[自动化与计算机技术] TP241