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题名:
Ankle rehabilitation robot control based on biological signals
作者: Zhao XG(赵新刚); Sun, Huabao; Ye D(叶丹)
作者部门: 机器人学研究室
通讯作者: 赵新刚
会议名称: 29th Chinese Control and Decision Conference, CCDC 2017
会议日期: May 28-30, 2017
会议地点: Chongqing, China
会议录: Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017
会议录出版者: IEEE
会议录出版地: New York
出版日期: 2017
页码: 6090-6095
收录类别: EI
ISBN号: 978-1-5090-4656-0
关键词: sEMG ; Ankle rehabilitation ; Ankle joint angle
摘要: The movement recovery of ankle is extremely important for patients with ankle injuries especially with the stroke hemiplegia. In this paper, a novel control method of ankle rehabilitation robot is proposed to provide continuous motion assistant. Ankle joint torque is estimated based on EMG signals to establish the relationship between joint torque and joint angle. In detail, we firstly apply a LDA algorithm for recognizing the motor patterns of ankle using two channels EMG signals collected from anterior tibial (TA) and gastrocnemius (GA). Then, the corresponding BP neural network model established in previous is selected according to identified motion pattern. The muscle activity related with identified motion pattern is used as the inputs of the BP neural network model to estimate the relevant joint torque. In order to meet the requirements of movement range for the subjects with different rehabilitation conditions, the subjects just need reset the angle range to achieve the control of continuous ankle motion with adjustable amplitude. Experimental results on nine subjects demonstrated that the ankle motion intention can be precisely predicted in advance, and the angle range of ankle motion were also adjustable based on the requirements of subjects. Key Words: sEMG, Ankle rehabilitation, Ankle joint angle.
语种: 英语
产权排序: 1
EI收录号: 20173504095130
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/20862
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
Zhao XG,Sun, Huabao,Ye D. Ankle rehabilitation robot control based on biological signals[C]. 29th Chinese Control and Decision Conference, CCDC 2017. Chongqing, China. May 28-30, 2017.Ankle rehabilitation robot control based on biological signals.
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