Archive for Ноябрь 6th, 2006

Real-Time Myoprocessors for a Neural Controlled Powered Exoskeleton Arm

Дата: Ноябрь 6th, 2006 Автор:
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  • Тип контента: Научная статья
  • Номер документа: 7308
  • Название документа: Real-Time Myoprocessors for a Neural Controlled Powered Exoskeleton Arm
  • Номер (DOI, IBSN, Патент): 10.1109/TBME.2006.880883
  • Изобретатель/автор: Ettore E. Cavallaro, Jacob Rosen, Joel C. Perry, Stephen Burns
  • Правопреемник/учебное заведение: University of Washington, Seattle
  • Дата публикации документа: 2006-11-06
  • Страна опубликовавшая документ: США
  • Язык документа: Английский
  • Наименование изделия: Не заполнено
  • Источник: IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING, VOL. 53, NO. 11
  • Вложения: Да
  • Аналитик: Глаголева Елена

Exoskeleton robots are promising assistive/rehabilitative devices that can help people with force deficits or allow the recovery of patients who have suffered from pathologies such as stroke. The key component that allows the user to control the exoskeleton is the human machine interface (HMI). Setting the HMI at the neuro-muscular level may lead to seamless integration and intuitive control of the exoskeleton arm as a natural extension of the human body. At the core of the exoskeleton HMI there is a model of the human muscle, the “myoprocessor,” running in realtime and in paral-lel to the physiological muscle, that predicts joint torques as a function of the joint kinematics and neural activation levels. This paper presents the development of myoprocessors for the upper limb based on the Hill phenomenological muscle model. Genetic algorithms are used to optimize the internal parameters of the myoprocessors utilizing an experimental database that provides inputs to the model and allows for performance assessment. The results indicate high correlation between joint moment predictions of the model and the measured data. Consequently, the myoprocessor seems an adequate model, sufficiently robust for further integration into the exoskeleton control system.

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