康复锻炼用肌电控制机械手开发  

Development of Myoelectric Control Manipulator for Rehabilitative Exercise

作　　者：韩书娜[1] 刘昆磊[1] 吕杰 HAN Shuna;LIU Kunlei;LV Jie(Department of Automation and Information Engineering,Pingdingshan Industrial College of Technology,Pingdingshan Henan 467001,China;Pingdingshan Electric Power Company,Pingdingshan Henan 467000,China)

机构地区：[1]平顶山工业职业技术学院自动化与信息工程学院,河南平顶山467001 [2]河南省平顶山供电公司,河南平顶山467000

出　　处：《机床与液压》2019年第11期48-52,共5页Machine Tool & Hydraulics

摘　　要：针对传统的刚体康复训练设备,无法适应不同患者的特定训练需求,以及无法整合功能性肌电刺激的辅助治疗功能等问题,开发出能够实现主动与被动训练的可变刚性自动化康复机械手系统。通过建立全新的适应性弹性耦合驱动器模型,并与采用非线性回归数学模型与支持向量回归分析设计的肌电信号力矩估测器进行整合,以数字信号处理器NI-sbRIO9642为控制核心,从而实现阻抗运动、等长运动、等张运动等外骨骼支持康复训练运动。实验表明:该机械手实现了不同需求的患者训练时的多种训练模式自动化,并具有舒适、安全的特点。Traditional rehabilitation training equipment of rigid body can not adapt the specific training needs for different patients , and can not integrate the adjuvant therapy of functional myoelectricity stimulation. To solve the above mentioned problems, a automatic rehabilitative manipulator system with variable rigidity is developed to realize active and passive training. A new adaptive elastic coupling driver model was built. Then the built model was integrated with myoelectric signal torque estimator designed by the nonlinear regression mathematical model and support vector regression analysis. Using digital signal processor NI-sbRIO9642 as the control core, the system realized rehabilitation training exercise supported by exoskeleton such as impedance movement, equal length movement and isotonic movement. The experiments show that the developed manipulator can realize automation of multiple training models for patient training with different needs. In addition, the developed manipulator has the features of comfort and safety.

关 键 词：可变刚性 弹性耦合 适应性 线性回归 肌电信号 力矩 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]