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Adaptive Model-Based Myoelectric Control for a Soft Wearable Arm Exosuit: A New Generation of Wearable Robot Control
IEEE Robotics & Automation Magazine ( IF 5.7 ) Pub Date : 2020-01-20 , DOI: 10.1109/mra.2019.2955669 Nicola Lotti , Michele Xiloyannis , Guillaume Durandau , Elisa Galofaro , Vittorio Sanguineti , Lorenzo Masia , Massimo Sartori
IEEE Robotics & Automation Magazine ( IF 5.7 ) Pub Date : 2020-01-20 , DOI: 10.1109/mra.2019.2955669 Nicola Lotti , Michele Xiloyannis , Guillaume Durandau , Elisa Galofaro , Vittorio Sanguineti , Lorenzo Masia , Massimo Sartori
Despite advances in mechatronic design, the widespread adoption of wearable robots for supporting human mobility has been hampered by 1) ergonomic limitations in rigid exoskeletal structures and 2) the lack of human-machine interfaces (HMIs) capable of sensing musculoskeletal states and translating them into robot-control commands. We have developed a framework that combines, for the first time, a model-based HMI with a soft wearable arm exosuit that has the potential to address key limitations in current HMIs and wearable robots. The proposed framework was tested on six healthy subjects who performed elbow rotations across different joint velocities and lifting weights. The results showed that the model-controlled exosuit operated synchronously with biological muscle contraction. Remarkably, the exosuit dynamically modulated mechanical assistance across all investigated loads, thereby displaying adaptive behavior.
中文翻译:
基于自适应模型的软可穿戴手臂穿着的肌电控制:新一代可穿戴机器人控制
尽管机电一体化设计方面取得了进步,但可穿戴机器人为支持人类移动性而被广泛采用受到以下因素的阻碍:1)刚性外骨骼结构的人体工程学限制; 2)缺乏能够感知骨骼骨骼状态并将其转化为人体骨骼的人机界面(HMI)机械手控制命令。我们已经开发出了一种框架,该框架首次将基于模型的HMI与柔软的可穿戴手臂外衣结合在一起,有可能解决当前HMI和可穿戴机器人的关键限制。在六个健康的受试者上测试了所提出的框架,这些受试者在不同的关节速度和举重条件下进行了肘关节旋转。结果表明,模型控制的外衣与生物肌肉收缩同步进行。值得注意的是
更新日期:2020-04-22
中文翻译:
基于自适应模型的软可穿戴手臂穿着的肌电控制:新一代可穿戴机器人控制
尽管机电一体化设计方面取得了进步,但可穿戴机器人为支持人类移动性而被广泛采用受到以下因素的阻碍:1)刚性外骨骼结构的人体工程学限制; 2)缺乏能够感知骨骼骨骼状态并将其转化为人体骨骼的人机界面(HMI)机械手控制命令。我们已经开发出了一种框架,该框架首次将基于模型的HMI与柔软的可穿戴手臂外衣结合在一起,有可能解决当前HMI和可穿戴机器人的关键限制。在六个健康的受试者上测试了所提出的框架,这些受试者在不同的关节速度和举重条件下进行了肘关节旋转。结果表明,模型控制的外衣与生物肌肉收缩同步进行。值得注意的是