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Ankle rehabilitation robot control based on biological signals
Zhao XG(赵新刚); Sun, Huabao; Ye D(叶丹)
作者部门机器人学研究室
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
会议录名称Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017
出版者IEEE
出版地New York
2017
页码6090-6095
收录类别EI ; CPCI(ISTP)
EI收录号20173504095130
WOS记录号WOS:000427082201070
产权排序1
ISSN号1948-9439
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
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/20862
专题机器人学研究室
通讯作者Zhao XG(赵新刚)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang, 110016, China
2.College of Information Science and Engineering, Northeastern University, Shenyang, 110004, China
推荐引用方式
GB/T 7714
Zhao XG,Sun, Huabao,Ye D. Ankle rehabilitation robot control based on biological signals[C]. New York:IEEE,2017:6090-6095.
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