CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Experimental Study of Robot-Assisted Exercise Training for Knee Rehabilitation Based on a Practical EMG-Driven Model
Peng, Long; Hou, Zengguang; Peng, Liang; Wang, Weiqun
2016-06
Conference Name2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)
Source PublicationRehabilitation Robotics and Assistive Technologies
Conference DateJune 26-29, 2016
Conference PlaceSingapore
Abstract
This paper proposes two robot-assisted exercise training methods for knee rehabilitation based on a practical EMG-driven model, aiming to beneficially exploit the patient's ability through neurorehabilitation process. The EMG-driven model is a simplified representation of the musculoskeletal system, with acceptable accuracies to predict the muscle forces and active torque of knee joint. Thus the patient's voluntary contribution can be introduced to the control loop through admittance controller. Preliminary experiments verify that the model prediction performance is able to reflect the subjects' motion intention in real-time and assist the subjects to perform exercise training with a lower limb rehabilitation robot. The information recorded during exercise training could be useful to understand the process of recovery and make quantitative evaluations to the patient's motor abilities.
KeywordExercise Training Rehabilitation Robot Emg Model
Indexed ByEI
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/12802
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorHou, Zengguang
AffiliationState Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Peng, Long,Hou, Zengguang,Peng, Liang,et al. Experimental Study of Robot-Assisted Exercise Training for Knee Rehabilitation Based on a Practical EMG-Driven Model[C],2016.
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