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Estimation of continuous elbow joint movement based on human physiological structure
Li, Kexiang1; Zhang JH(张建华)1,2; Liu X(刘璇)1; Zhang ML(张明路)1
Department机器人学研究室
Source PublicationBIOMEDICAL ENGINEERING ONLINE
ISSN1475-925X
2019
Volume18Pages:1-15
Indexed BySCI ; EI
EI Accession number20191306687602
WOS IDWOS:000462311900004
Contribution Rank2
Funding OrganizationNational Natural Science Foundation of China ; Natural Science Foundation of Hebei Province ; State Key Laboratory of Robotics ; Beijing Advanced Innovation Center for Intelligent Robots and Systems
KeywordIntention recognition Elbow movement Upper-limb physiological structure Biomechanical Surface electromyography Genetic algorithm
AbstractObjectiveHuman intention recognition technology plays a vital role in the application of robotic exoskeletons and powered exoskeletons. However, the precise estimation of the continuous motion of each joint represents a major challenge. In the current study, we present a method for estimating continuous elbow joint movement.MethodsWe developed a novel approach for estimating the elbow joint angle based on human physiological structure. We used surface electromyography signals to analyze the biomechanical properties of the muscle and combined it with physiological structure to achieve a model for estimating continuous motion. And a genetic algorithm was used to optimize unknown parameters.ResultsWe performed extensive trials to verify the generalizability and effectiveness of this method. The trial types included elbow joint motion with single cycle trials, typical cycle trials, gradually increasing amplitude trials, and random movement trials for handheld loads of 1.25 and 2.5kg. The results revealed that the average root-mean-square errors ranged from 0.12 to 0.26rad, reflecting an appropriate level of estimation accuracy.ConclusionEstablishing a reasonable physiological model and applying an efficient optimization algorithm enabled more accurate estimation of the joint angle. The proposed method provides a theoretical foundation for robotic exoskeletons and powered exoskeletons to understand the intentions of human continuous motion.
Language英语
WOS SubjectEngineering, Biomedical
WOS KeywordESTIMATE MUSCLE FORCES ; EMG-DRIVEN MODEL ; MOMENTS
WOS Research AreaEngineering
Funding ProjectBeijing Advanced Innovation Center for Intelligent Robots and Systems[2018IRS04] ; State Key Laboratory of Robotics[2015002] ; Natural Science Foundation of Hebei Province[E2016202342] ; National Natural Science Foundation of China[61473113] ; National Natural Science Foundation of China[51575157] ; National Natural Science Foundation of China[51575157] ; National Natural Science Foundation of China[61473113] ; Natural Science Foundation of Hebei Province[E2016202342] ; State Key Laboratory of Robotics[2015002] ; Beijing Advanced Innovation Center for Intelligent Robots and Systems[2018IRS04]
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Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/24472
Collection机器人学研究室
Corresponding AuthorZhang JH(张建华)
Affiliation1.School of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
Recommended Citation
GB/T 7714
Li, Kexiang,Zhang JH,Liu X,et al. Estimation of continuous elbow joint movement based on human physiological structure[J]. BIOMEDICAL ENGINEERING ONLINE,2019,18:1-15.
APA Li, Kexiang,Zhang JH,Liu X,&Zhang ML.(2019).Estimation of continuous elbow joint movement based on human physiological structure.BIOMEDICAL ENGINEERING ONLINE,18,1-15.
MLA Li, Kexiang,et al."Estimation of continuous elbow joint movement based on human physiological structure".BIOMEDICAL ENGINEERING ONLINE 18(2019):1-15.
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