基于sEMG和肌肉骨骼模型的手指多关节力矩耦合分析  

Multi-joint torque coupling analysis of fingers based on sEMG and musculoskeletal model

作　　者：谢平[1] 肖俊明 于金须 张立杰 杜义浩[1] Xie Ping;Xiao Junming;Yu Jinxu;Zhang Lijie;Du Yihao(Key Lab of Measurement Technology and Instrumentation of Hebei Province,Institute of Electric Engineering,Yanshan University,Qinhuangdao 066004,China;Key Laboratory of Heavy Machinery Fluid Power Transmission and Control of Hebei Province,Institute of Mechanical Engineering,Yanshan University,Qinhuangdao 066004,China)

机构地区：[1]燕山大学电气工程学院河北省测试计量技术及仪器重点实验室,秦皇岛066004 [2]燕山大学机械工程学院河北省重型机械流体动力传输与控制实验室,秦皇岛066004

出　　处：《仪器仪表学报》2022年第9期266-275,共10页Chinese Journal of Scientific Instrument

基　　金：国家自然科学基金区域联合项目(U20A20192);国家自然科学基金项目(62076216);河北省自然科学基金重点项目(F2022203079)资助。

摘　　要：手指内部力矩受表面肌电信号、肌力、手部姿态等因素影响而无法直接获取,为了实时且准确地获取手指各关节力矩以及耦合力矩并应用于手部康复机器人的交互控制中,提出了一种基于表面肌电信号和肌肉骨骼模型的手指多关节力矩和耦合力矩分析与实时获取方法。首先设计了自适应手指关节角度采集系统,通过实验同步采集指浅屈肌与指伸肌的肌电信号以及手指各关节的角度数据,建立手指多关节力矩模型,从而获取手指各关节力矩。然后建立手指D-H模型,结合虚功原理获取手指的耦合力矩。最后,辨识了手指多关节力矩模型的参数,并通过OpenSim软件获取了仿真力矩。计算力矩与仿真力矩的对比结果显示:4名被试3个关节力矩的均方根误差分别为0.1567、0.097425、0.08495,证明了该方法能够实时并准确的获取手指各关节力矩和耦合力矩,能够满足手部康复机器人交互控制准确性和实时性的需求。The internal torque of fingers is affected by surface electromyography(sEMG)signals,muscle strength,hand posture and other factors,which cannot be obtained directly.To obtain the torques and coupling torque of finger joints in real time as well as accurately,and apply them to the interactive control of hand rehabilitation robots,a method for analyzing and acquiring the torques and coupling torque of finger joints based on sEMG and musculoskeletal model is proposed.Firstly,an adaptive finger joints angle acquisition system is designed.Through experiments,the sEMG signals of the flexor digitorum superficialis(FDS)and the extensor digitorum communis(EDC)and the angle data of each finger joint are collected simultaneously.The torque model of the finger joints is formulated and the torque of each joint of the fingers is obtained.Then,the finger D-H model is established,and the coupling torque of the finger joints is obtained by combining the principle of virtual work.Finally,the parameters of the multi-joint torque model are determined,and the simulated torque is achieved through OpenSim software.By comparing the results of the calculated torques and the simulated torques,the root mean square error of three joint torques of the four subjects are 0.1567,0.097425 and 0.08495,respectively.Results show that the method can obtain the torque and coupling torque of each joint of the finger in real time and accurately,which can meet the requirements of accuracy and real-time interactive control of hand rehabilitation robots.

关 键 词：单关节力矩 SEMG 关节角度 肌肉骨骼模型 耦合力矩 D-H模型 交互控制 

分 类 号：TH911.72[机械工程]