基于肩部肌肉表面肌电的下肢外骨骼控制系统  

Lower limb exoskeleton control system based on shoulder muscle surface electromyogram

作　　者：朱鹏霖 苏宗信 唐家曦 武彦言 于诗静 唐鹤云 ZHU Penglin;SU Zongxin;TANG Jiaxi;WU Yanyan;YU Shijing;TANG Heyun(Xuzhou Medical University School of medical imaging,Xuzhou,Jiangsu Province 221004)

机构地区：[1]徐州医科大学医学影像学院,江苏徐州221004

出　　处：《北京生物医学工程》2022年第5期510-515,共6页Beijing Biomedical Engineering

基　　金：江苏省大学生创新创业训练计划2019年立项项目(201910313065Y)、基础医学国家级实验教学示范中心(徐州医科大学)资助。

摘　　要：目的设计一种基于肩关节屈曲、外展运动主要肌肉表面肌电信号的下肢可穿戴外骨骼控制系统,解决基于下肢肌肉表面肌电信号控制系统信号提取识别困难的问题。方法首先采用表面肌电信号传感器采集患者的三角肌前束、中束以及斜方肌肌电信号。其次通过蓝牙等无线通信技术将信号实时传输至控制板。再次,控制板通过分析采集信号数据特征判断患者运动状态和运动意图,控制大腿相关关节处舵机根据三维步态采集系统得到患者特殊步态数据提供相关扭矩完成运动。最后,受试者穿戴配有控制系统的外骨骼康复机器人后进行3组独立重复实验,验证机器人控制系统实时提取识别肌电信号、控制舵机运作的效果。结果肩关节表面肌肉位置浅表、肌腹面积大且拮抗肌信号干扰小,表面肌电采集容易,控制板对运动意图的识别难度低,平均识别成功率为89.6%,验证了下肢外骨骼康复机器人控制系统有效控制舵机辅助人体完成康复训练的可行性。结论基于肩部肌肉表面肌电信号的下肢外骨骼控制系统降低了信号提取识别难度,下肢外骨骼助行机器人通过提取并识别肩部表面肌电信号进行运动具有可行性。Objective To design a lower extremity wearable exoskeleton control system based on the surface electromyogram signals of main muscles of shoulder flexion and abduction,and to solve the problem of difficult signal extraction and recognition based on lower limb muscle surface electromyogram signal control system.Methods Firstly,the electrical signals of anterior,middle and trapezius deltoid were collected by surface electromyogram sensor.Secondly,the signal was transmitted to the control board in real time through Bluetooth and other wireless communication technologies.Thirdly,the control board judged the patient’s motion state and motion intention by analyzing the characteristics of the collected signal data,controlled the steering gear at the relevant joints of the thigh,obtained the patient’s special gait data according to the three-dimensional gait acquisition system,and provided relevant torque to complete the motion.Finally,after wearing the exoskeleton rehabilitation robot equipped with the control system,the subjects carried out three groups of independent repeated experiments to verify the effect of the robot control system on extracting and identifying electromyogram signals in real time and controlling the operation of the steering gear.Results The muscle position on the surface of shoulder joint was shallow,the area of muscle abdomen was large,and the interference of antagonistic muscle signal was small.The surface electromyogram acquisition was easy,and the control board had low difficulty in identifying movement intention.The average recognition success rate was 89.6%.It was verified that the control system of lower limb exoskeleton rehabilitation robot could effectively control the steering gear to assist the human body to complete rehabilitation training.Conclusions The lower limb exoskeleton control system based on shoulder muscle surface electromyogram signal reduces the difficulty of signal extraction and recognition.It is feasible for lower limb exoskeleton walking aid robot to move by extra

关 键 词：表面肌电 外骨骼 运动意图识别 康复机器人 三点步 

分 类 号：R318.04[医药卫生—生物医学工程]