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 |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
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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