Myoelectric estimation method for motion moment of wrist joint

Abstract

The invention discloses a myoelectric estimation method for the motion moment of a wrist joint. The surface electromyography signals of six forearm muscles were collected in the process of wrist flexion and extension, and the muscle contraction time was calculated by TKE operator. The maximum isometric contraction tension of each muscle was measured synchronously by isokinetic muscle strength testing system and electromyograph. The forward muscle-bone model of wrist joint was established. The maximum tension of muscle contraction time and muscle contraction time was input, and the estimated torque at the limit position of wrist joint bending and extension was output. The kinematics data of the wrist joint during bending and stretching were obtained by using the three-dimensional motion capture system, and the reference moment at the limit position was calculated. Taking the square of the error between the estimated torque and the reference torque as the objective function, the conjugate gradient method is used to calibrate the forward muscle-bone model of the wrist joint, and the surface electromyography signal is used to estimate the torque of the wrist joint. The invention can beapplied to the fields of myoelectric artificial hand, rehabilitation medical treatment, bio-electric integration and the like.

Description

【Technical field】 [0001] The invention belongs to the technical field of intelligent prosthetic hand and biological mechatronics, and relates to a myoelectric estimation method of wrist joint motion torque. 【Background technique】 [0002] At present, the number of patients with hand loss due to accidents, diseases and other reasons has reached tens of millions. Hand regeneration cannot be realized at the current medical level, so prosthesis is the only way for patients with hand loss to restore hand function. The myoelectric prosthetic hand is based on the surface myoelectric signal characteristics of the human arm to perceive the human body's movement intention, and control the prosthetic hand to achieve corresponding operations, so as to meet the daily needs of hand disabled patients. Compared with the traditional prosthetic hand, its function is more perfect, and it can better improve the phantom limb feeling used by patients. [0003] The excitatory signal generated by...

AI Technical Summary

Problems solved by technology

Existing myoelectric prosthetic hands mainly focus on the classification of prosthetic hand grasping movements in terms of human motion intention perception, ignoring the research on the torque during the grasping process

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