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
会议名称2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)
会议录名称Rehabilitation Robotics and Assistive Technologies
会议日期June 26-29, 2016
会议地点Singapore
摘要
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.
关键词Exercise Training Rehabilitation Robot Emg Model
收录类别EI
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/12802
专题复杂系统管理与控制国家重点实验室_先进机器人
通讯作者Hou, Zengguang
作者单位State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences
推荐引用方式
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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