IEEE Int Conf Rehabil Robot. 2022 Jul;2022:1-5. doi: 10.1109/ICORR55369.2022.9896537.
Proportional myoelectric control of robotic lower limb exoskeletons can increase the variability and adaptability of biomechanical behaviors for assisting human movement compared to traditional state-based control. Previous exoskeletons using proportional myoelectric control have relied on pneumatic actuators and been limited to laboratory use. We applied proportional myoelectric control to a robotic ankle exoskeleton using a brushless DC motor (Dephy) and enabled it to work in community settings. Benchtop testing verified electromechanical responses similar to biological values (electromechanical delay of 22 ms and time to peak activation of 123 ms). Four healthy participants trained for thirty minutes each using bilateral ankle exoskeletons. From minute one of powered walking to minute 30 of powered walking, peak soleus EMG reduced by 17.9% as they learned to walk with exoskeleton assistance. Our future work will extend the powered walking period, measure metabolic cost, and measure gait variability between participants using proportional myoelectric control on fully portable, electromechanical ankle exoskeletons.
与传统基于状态的控制相比，机器人下肢外骨骼的比例肌电控制可以增加生物力学行为的可变性和适应性，以辅助人类运动。以前使用比例肌电控制的外骨骼依赖于气动执行器，并且仅限于实验室使用。我们将比例肌电控制应用于使用无刷直流电机（Dephy）的机器人踝关节外骨骼，并使其能够在社区环境中工作。台式测试验证了类似于生物值的机电响应（机电延迟 22 毫秒，激活峰值时间 123 毫秒）。四名健康参与者使用双侧踝关节外骨骼进行了每次 30 分钟的训练。从动力行走的第 1 分钟到动力行走的第 30 分钟，随着他们学习在外骨骼辅助下行走，比目鱼肌的 EMG 峰值降低了 17.9%。我们未来的工作将延长动力行走时间，测量代谢成本，并在完全便携式机电踝关节外骨骼上使用比例肌电控制测量参与者之间的步态变异性。
