基于肌电信号的肢体刚度特性  

Upper Limb Stiffness Based on Electromyography

作　　者：崔泽[1] 宋伟任 韩汪洋[1] 邱国文[1] 王玉梅[1] 

机构地区：[1]上海大学机电工程与自动化学院,上海200072

出　　处：《系统仿真技术》2017年第2期136-140,共5页System Simulation Technology

基　　金：上海市自然科学基金(15ZR1414800);机器人技术与系统国家重点实验室开放基金(SKLRS-2014-MS-07)

摘　　要：提出了一种基于肌电信号的上肢刚度仿真方法。将上肢运动简化为两自由度的关节运动,然后采集上肢在屈伸运动中肘关节处相关肌肉的肌电信号(EMG),并从中提取肌肉活跃度特征。在此基础上,利用Hill-type肌肉模型估算肌肉力进而计算肌肉刚度。最后,利用现有的人工神经网络模型计算上肢的肌肉刚度,并验证推算结果的可靠性。A simulation method of upper-limb stiffness based on electromyography（ EMG） was proposed. The upper-limb movement was simplified as the two degrees of freedom joint movement.Then,EMG at the elbow joint of the upper limbs during flexion and extension movement was collected and the characteristics of muscle activity were extracted. Based the above data, the muscle stiffness was calculated with Hill-type muscle model. Finally, the existing artificial neural network model was used to calculate the muscle stiffness of the upper limbs and the reliability of the calculated results was verified.

关 键 词：肌电信号(EMG) 肌肉刚度 Hill-type肌肉模型 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]