Watanabe Eichi, Kozasa Kohei, Fujihara Ryo, Hirai Hiroaki, Yoshida Keishi, Naritomi Hiroaki, Krebs Hermano Igo
IEEE Int Conf Rehabil Robot. 2019 Jun;2019:1227-1232. doi: 10.1109/ICORR.2019.8779463.
In the development of a robotic therapy system, tests must be first run to guarantee safety and performance of the system before actual human trials. Lower-limb robotic therapy system has an inherit injury risk and a human-like stunt robot is desirable. This study proposes such an alternative: anthropomorphic legs with a bio-inspired control method affording a human-like test bench for the robotic therapy system. Electromyography (EMG) of a mildly hemiparetic stroke patient was measured during body-weight-supported treadmill walking. The motor strategy of the hemiparetic gait was extracted from the EMG data and applied to the control of the anthropomorphic legs. We employed the concept of equilibrium point (EP) to extract motor synergies and strategy. The EP- based synergies expressed by the composites of muscle mechanical impedance clarified motor strategy including aspects related to the impedance and virtual trajectory. Results show that the EP-based synergies were able to characterize neuromuscular patterns of pathological gait. The anthropomorphic legs were able to reproduce patient's gait by mimicking the EP-based synergies.
在开发机器人治疗系统时，必须先进行测试，以确保系统的安全性和性能，然后才能进行实际的人体试验。下肢机器人治疗系统存在固有的受伤风险，因此需要一个类似人类的特技机器人。本研究提出了一种替代方案：具有仿生控制方法的拟人化腿部，为机器人治疗系统提供一个类似人类的测试平台。在体重支持下的跑步机行走过程中，测量了一名轻度偏瘫中风患者的肌电图（EMG）。从EMG数据中提取偏瘫步态的运动策略，并将其应用于拟人化腿部的控制。我们采用平衡点（EP）的概念来提取运动协同作用和策略。由肌肉机械阻抗的组合表示的基于EP的协同作用阐明了运动策略，包括与阻抗和虚拟轨迹相关的方面。结果表明，基于EP的协同作用能够表征病理性步态的神经肌肉模式。拟人化腿部能够通过模仿基于EP的协同作用来再现患者的步态。
