EMG駆動筋骨格モデルによるロボット足関節義足の随意制御設計
Design of EMG-driven Musculoskeletal Model for Volitional Control of a Robotic Ankle Prosthesis
筋電信号で仮想の筋モデルを動かし、ユーザーが連続的に義足の動きを自在に操作できる制御手法を設計・検証した研究。
著者: Chinmay Shah, Aaron Fleming, Varun Nalam, He, Huang
分類: cs.RO
原文アブストラクト
Existing robotic lower-limb prostheses use autonomous control to address cyclic, locomotive tasks, but they are inadequate to operate the prosthesis for daily activities that are non-cyclic and unpredictable. To address this challenge, this study aims to design a novel electromyography (EMG)-driven musculoskeletal model for volitional control of a robotic ankle-foot prosthesis. This controller places the user in continuous control of the device, allowing them to freely manipulate the prosthesis behavior at will. The Hill-type muscle model was used to model a dorsiflexor and a plantarflexor, which functioned around a virtual ankle joint. The model parameters were determined by fitting the model prediction to the experimental data collected from an able-bodied subject. EMG signals recorded from ankle agonist and antagonist muscle pair were used to activate the virtual muscle models. This model was validated via offline simulations and real-time prosthesis control. Additionally, the feasibility of the proposed prosthesis control on assisting the user's functional tasks was demonstrated. The present control may further improve the function of robotic prosthesis for supporting versatile activities in individuals with lower-limb amputations.
