Calibration of an EMG-based body model with six muscles to control a leg exoskeleton

被引：34

作者：

Fleischer, Christian ^{[1
]}

Hommel, Guenter ^{[1
]}

机构：

[1] Tech Univ Berlin, Inst Comp Engn & Microelect, Sekretariat EN 10,Einsteinufer 17, D-10587 Berlin, Germany

来源：

PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 | 2007年

关键词：

D O I：

10.1109/ROBOT.2007.363843

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a body model of intermediate level of detail to allow prediction of the knee torque produced by thigh muscles based on EMG signals. This torque prediction is used as input for a torque controller that adapts the level of support offered to an operator by a powered leg orthosis. The level of detail of the body model is chosen in such a way, that all parameters of the model can be calibrated for a specific operator with only a few sensors that are mounted on the exoskeleton.

引用

页码：2514 / +

页数：2

共 17 条

[1]

BASMAJIAN JV, 1985, MUSCLES ALIVER THEIR

[2] Neuromusculoskeletal modeling: Estimation of muscle forces and joint moments and movements from measurements of neural command [J].

Buchanan, TS ;

Lloyd, DG ;

Manal, K ;

Besier, TF .

JOURNAL OF APPLIED BIOMECHANICS, 2004, 20 (04) :367-395

[3] AN INTERACTIVE GRAPHICS-BASED MODEL OF THE LOWER-EXTREMITY TO STUDY ORTHOPEDIC SURGICAL-PROCEDURES [J].

DELP, SL ;

LOAN, JP ;

HOY, MG ;

ZAJAC, FE ;

TOPP, EL ;

ROSEN, JM .

IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING, 1990, 37 (08) :757-767

[4]

FLEISCHER C, 2006, P JOINT C ROB ISR 20

[5]

FLEISCHER C, 2005, P IEEE RSJ INT C INT

[6]

Hommel G., 2004, P IEEE RSJ INT C INT

[7] Power assist method based on phase sequence driven by interaction between human and robot suit [J].

Kawamoto, H ;

Sankai, Y .

RO-MAN 2004: 13TH IEEE INTERNATIONAL WORKSHOP ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, PROCEEDINGS, 2004, :491-496

[8]

KAWAMOTO H, 2002, SYST MAN CYB 2002 IE, V4, P6

[9] The Berkeley Lower Extremity Exoskeleton [J].

Kazerooni, H ;

Steger, R .

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 2006, 128 (01) :14-25

[10] An EMG-driven musculoskeletal model to estimate muscle forces and knee joint moments in vivo [J].

Lloyd, DG ;

Besier, TF .

JOURNAL OF BIOMECHANICS, 2003, 36 (06) :765-776

← 1 2 →