一种基于sEMG评价上肢康复机器人有效性的方法-中国数字医学.PDF

数字医学研究与应用 Research and Application of Digital Medicine 一种基于sEMG评估 上肢康复机器人有效性的方法 ① ① ② ＊ ② ① 王源 于海龙 Suzuki Hiroyuki 谢叻 Yu Wenwei 李海丽 摘 要 将表面肌电信号（sEMG）运用到上肢康复机器人的有效性评估方面，提供一种方便有效的针对外骨骼康复机器人 的训练效果评估方法，有利于针对不同机械结构的外骨骼机器人采用不同的康复医疗方案。利用肌电信号时域分析的积分 机电值iEMG和均方根值RMS等肌电信号特征，并结合对肌电图的分析设计出针对六自由度上肢外骨骼机器人的对应训练方 案，并对该套机器人系统进行科学的有效性评估。 关键词 外骨骼机器人 康复医疗 表面肌电信号 康复评估 Doi:10.3969/j.issn.1673-7571.2013.02.008 The Method of Evaluation on Upper-Limbs Rehabilitation Exoskeletal Robot Based on sEMG / WANG Yuan, Yu Hai-long, Suzuki Hiroyuki, et al//China Digital Medicine.-2013 8(2): 23 to 26 Abstract This paper uses sEMG as a convenient and effective method to the effectiveness evaluation of Upper-Limbs rehabilitation exoskeletal robot. This method is beneficial to the different mechanical structure rehabilitation robot and can gain targeted medical treatment. Meanwhile, this is also can evaluate the effectiveness of the exosekeletal robot itself. This paper takes advantages of iEMG, RMS, and the electromyography to design a training plan for the 6-DOF robot and also have a scientific evaluation of the Upper- Limb rehabilitation system. Keywords Exoskeletal Robot, Rehabilitation, sEMG, rehabilitation evaluation Fund project National Natural Science Foundation of China (No.; National Key Technology Support Program (No. 2009BAI71B06); National Natural Science Foundation of China (No.; National High Technology Research and Development Program of China(No. 2006AA01Z310, 2009AA01Z313) Corresponding author National Die Mould Engineering Research Center, Med-X Research Institute, Shanghai Jiao Tong University, Shanghai 200030, P.R.C. 1 引言 随着科学的发展，新兴康复