El Zahraa Wehbi Fatima, Huo Weiguang, Amirat Yacine, Rafei Maher El, Khalil Mohamad, Mohammed Samer
IEEE Int Conf Rehabil Robot. 2017 Jul;2017:435-440. doi: 10.1109/ICORR.2017.8009286.
In this paper, an active impedance control strategy for a knee-joint orthosis is proposed to assist individuals suffering from lower-limb muscular weaknesses during the swing phase of walking activities. The goal of the proposed strategy is to decrease the human effort required for ensuring a successful knee joint movement during walking without sacrificing the wearer's control priority. In this study, a gait-phase based desired knee-joint admittance model is designed by analyzing the kinematic and kinetic characteristics of the wearer's shank-foot segment during walking. Moreover, the mechanical impedance of the human/orthosis system is adapted to the desired one using an active impedance compensation. The control approach was implemented using a knee joint orthosis and tested with four healthy subjects. The EMG signals of the short head of the biceps femoris and the vastus medialis are used as metrics to evaluate the effectiveness of the proposed strategy. The experimental results show that the human effort can be significantly decreased when the wearers are assisted using the proposed approach.
本文提出了一种用于膝关节矫形器的主动阻抗控制策略，以帮助下肢肌肉无力的个体在步行活动的摆动阶段行走。所提出策略的目标是在不牺牲佩戴者控制优先级的情况下，减少行走过程中确保膝关节成功运动所需的人力。在本研究中，通过分析步行过程中佩戴者小腿 - 足部节段的运动学和动力学特征，设计了一种基于步态阶段的期望膝关节导纳模型。此外，利用主动阻抗补偿使人体/矫形器系统的机械阻抗适应期望的阻抗。该控制方法通过膝关节矫形器实现，并在四名健康受试者身上进行了测试。股二头肌短头和股内侧肌的肌电信号用作评估所提出策略有效性的指标。实验结果表明，当使用所提出的方法辅助佩戴者时，人力可显著降低。
