Journal of Bionic Engineering ›› 2025, Vol. 22 ›› Issue (4): 1758-1775.doi: 10.1007/s42235-025-00713-9
• • 上一篇
Robot-Assisted Multi-limb Joint Muscle Strength Training and Performance Evaluation
Jianfeng Li1；Wei Zhang1；Shiping Zuo2；Zonghao Ma3；Mingming Zhang4；Mingjie Dong1
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1 Beijing Key Laboratory of Advanced ManufacturingTechnology, College of Mechanical & Energy Engineering,Beijing University of Technology, Beijing 100124, China
2 College of Information Technology, Beijing University ofTechnology, Beijing 100124, China 3 Department of Biomedical Engineering, The Hong KongPolytechnic University, Hong Kong, China
4 Department of Biomedical Engineering, Southern Universityof Science and Technology, Shenzhen 518055, China
Robot-Assisted Multi-limb Joint Muscle Strength Training and Performance Evaluation
Jianfeng Li1；Wei Zhang1；Shiping Zuo2；Zonghao Ma3；Mingming Zhang4；Mingjie Dong1
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1 Beijing
Key Laboratory of Advanced ManufacturingTechnology, College of
Mechanical & Energy Engineering,Beijing University of Technology,
Beijing 100124, China
2 College of Information Technology, Beijing University ofTechnology, Beijing 100124, China 3 Department of Biomedical Engineering, The Hong KongPolytechnic University, Hong Kong, China
4 Department of Biomedical Engineering, Southern Universityof Science and Technology, Shenzhen 518055, China
摘要： Muscle strength training can effectively reduce muscle atrophy, activate muscle tissue and promote muscle strength recov-ery and growth. Based on our previous research, we developed four muscle strength training strategies by further imitatingthe clinical muscle strength training methods, namely, Isokinetic centriPetal-centriPetal Exercise (IPPE), Isokinetic cen-triPetal-centriFuge exercise (IPFE), Isokinetic centriFuge-centriPetal Exercise (IFPE) and Isokinetic centriFuge-centriFuge Exercise (IFFE). To quantitatively evaluate the performance of the developed strategies, experiments were carried out with elbow and knee joints as examples, and muscle Endurance Ratio (ER), Flexion and Extension torque ratio (F/E) and the degree of muscle activation were extracted and calculated based on angle/torque and Surface ElectroMyoGraphy (sEMG) signals. Experimental results showed that the ER value of IFFE was significantly reduced compared with IPPE, while the F/E value of IFPE was significantly increased; this suggests that muscle centrifugation corresponds to higher trainingintensity; In addition, flexor and extensor muscle groups showed different levels of muscle activation in different train-ing strategies. The results reveal that combining different muscle movement characteristics, isokinetic exercise can exert special muscle strength training effects. The study can lay the foundation for exploring subject-specific adaptive muscle strength training strategies to better adapt to different levels of muscle strength.