Journal of Bionic Engineering ›› 2023, Vol. 20 ›› Issue (4): 1597-1612.doi: 10.1007/s42235-023-00339-9
An EMG-Based Biomimetic Variable Stiffness Modulation Strategy for Bilateral Motor Skills Relearning of Upper Limb Elbow Joint Rehabilitation
Ziyi Yang1; Shuxiang Guo1,2; Keisuke Suzuki1; Yi Liu3; Masahiko Kawanishi4
- 1 Graduate School of Engineering, Kagawa University, Takamatsu, Kagawa 761-0396, Japan 2 Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, School of Life Science and Technology, Beijing Institute of Technology, Beijing 100081, China 3 National Rehabilitation Center for Persons with Disabilities, Tokorozawa 359-8555, Japan 4 Faculty of Medicine, Kagawa University, Takamatsu, Kagawa 761-0793, Japan
An EMG-Based Biomimetic Variable Stiffness Modulation Strategy for Bilateral Motor Skills Relearning of Upper Limb Elbow Joint Rehabilitation
Ziyi Yang1; Shuxiang Guo1,2; Keisuke Suzuki1; Yi Liu3; Masahiko Kawanishi4
- 1 Graduate School of Engineering, Kagawa University, Takamatsu, Kagawa 761-0396, Japan 2 Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, School of Life Science and Technology, Beijing Institute of Technology, Beijing 100081, China 3 National Rehabilitation Center for Persons with Disabilities, Tokorozawa 359-8555, Japan 4 Faculty of Medicine, Kagawa University, Takamatsu, Kagawa 761-0793, Japan
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.