基于emg-kja神经肌骨动力学模型下肢动作模式识别及运动轨迹预测-lower limb movement pattern recognition and trajectory prediction based on emg - kja neuromuscular dynamic model.docx

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基于emg-kja神经肌骨动力学模型下肢动作模式识别及运动轨迹预测-lower limb movement pattern recognition and trajectory prediction based on emg - kja neuromuscular dynamic model.docx

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基于emg-kja神经肌骨动力学模型下肢动作模式识别及运动轨迹预测-lower limb movement pattern recognition and trajectory prediction based on emg - kja neuromuscular dynamic model

contrastingthetwomodelingmethods,theidealpredictionwayisSVMwhoseerrorismuchlowerthanthatofANN.Inordertoinprovethedegreeofreal-timeandon-lineofprediction,asetofmuscle-sourcechanneloptimizationprogramwasdesignedforeachactionbyremovingtheunrelatedchannelone-by-oneaccordingtothecorrelationcoefficientbetweenRMSofsEMGsignalsandkneejointangle.Tthepredictionresultsweretestedtofindouttheoptimalpredictionmethod.TheresearchresultsinthisthesisarenotonlyconductiveforthefuturedesignofEMGcontrolledlowerlimbprosthesisandtheexplorationonrelevantneurologicalandkinematicmechanism,butalsocouldbeemployedinmotionsensing,human-machineinterface,virtualreality,remotecontrolandotherrelatedfields.KeyWords:SurfaceElectromyogram(sEMG),Knee-Joint-Angle(KJA),FeatureParameters,PatternClassification,KinematicTrajectoryPrediction,Muscle-SourceChannleOptimization目录第一章绪论..............................................................................................................11.1研究背景............................................................................................................11.2假肢与神经肌骨动力学简介............................................................................21.2.1假肢简介..................................................................................................21.2.2神经肌骨动力学模型..............................................................................41.2.3肌电假肢..................................................................................................61.2.4研究现状..................................................................................................81.3本课题研究内容、目的及意义........................................................................9第二章EMG-KJA信号采集平台与实验方案122.1下肢关键动作模态介绍..................................................................................122.2表面肌电检测的下肢肌群位置选择..............................................................132.3EMG-KJA信号采集平台152.3.1表面肌电采集系统................................................................................152.3.2三维运动捕捉系统