An EMG-Based Biomimetic Variable Stiffness Modulation Strategy for Bilateral Motor Skills Relearning of Upper Limb Elbow Joint Rehabilitation

作     者：Ziyi Yang Shuxiang Guo Keisuke Suzuki Yi Liu Masahiko Kawanishi Ziyi Yang;Shuxiang Guo;Keisuke Suzuki;Yi Liu;Masahiko Kawanishi

作者机构：Graduate School of EngineeringKagawa UniversityTakamatsuKagawa761-0396Japan Key Laboratory of Convergence Medical Engineering System and Healthcare TechnologySchool of Life Science and TechnologyBeijing Institute of TechnologyBeijing100081China National Rehabilitation Center for Persons with DisabilitiesTokorozawa359-8555Japan Faculty of MedicineKagawa UniversityTakamatsuKagawa761-0793Japan 

出 版 物：《Journal of Bionic Engineering》 (仿生工程学报（英文版）)

年 卷 期：2023年第20卷第4期

页      面：1597-1612页

核心收录：

学科分类：0710[理学-生物学] 0831[工学-生物医学工程（可授工学、理学、医学学位）] 0402[教育学-心理学(可授教育学、理学学位）] 1002[医学-临床医学] 08[工学] 080202[工学-机械电子工程] 0802[工学-机械工程] 0836[工学-生物工程] 0811[工学-控制科学与工程] 

基　　金：Kaken Pharmaceutical, (15K2120) National High-tech Research and Development Program, (2015AA043202) 

主　　题：Biomimetic stiffness modulation Compliant physical human-robot interaction(pHRI) Electromyography(EMG) Variable stiffness actuator(VSA) Rehabilitation robotics Synergy-based control Skill relearning 

摘      要：Bilateral rehabilitation systems with bilateral or unilateral assistive robots have been developed for hemiplegia patients to recover their one-side paralysis.However,the compliant robotic assistance to promote bilateral inter-limb coordination remains a challenge that should be addressed.In this paper,a biomimetic variable stiffness modulation strategy for the Variable Stiffness Actuator(VSA)integrated robotic is proposed to improve bilateral limb coordination and promote bilateral motor skills relearning.An Electromyography(EMG)-driven synergy reference stiffness estimation model of the upper limb elbow joint is developed to reproduce the muscle synergy effect on the affected side limb by independent real-time stiffness control.Additionally,the bilateral impedance control is incorporated for realizing compliant patient-robot interaction.Preliminary experiments were carried out to evaluate the tracking performance and investigate the multiple task intensities’influence on bilateral motor skills relearning.Experimental results evidence the proposed method could enable bilateral motor task skills relearning with wide-range task intensities and further promote bilateral inter-limb coordination.