Motion Control Of Upper Limb Rehabilitation Robot Based On Semg's Quantitative Defination

Surface electromyography signal (sEMG) can reflect nerves and muscles'motion to a certain degree and has great practical value in clinical medical nerves and muscles disease diagnose, muscles function evaluation and artificial limb control in the medical rehabilitation field achieving certain development and is applied in the joint motion information definition. Aiming at the characteristics of hemiplegia patients whose one-side limbs motion function is destroyed, this paper researches on the upper limbs motion quantitative definition based on sEMG to understand the patients'motion intention and consequently supply automatic motion control to the patients. Meanwhile, this paper focuses on feature extraction and quantitative definition of sEMG which are key technology.In the aspect of sEMG and joint angle collection, this paper concludes the considerations in the process of sEMG collection based on the analysis of sEMG's characteristics and factors, analyzes and chooses the joint angle collection methods, introduces the signal collection system used in this paper including hardware and software and sets the location of two kinds of sensors, motion details of elbow flexion and extension, related preparation before collection and consideration in the signal collection in specific.In the aspect of sEMG's feature extraction, this paper preprocesses or optimizes the collected raw sEMG, initially analyzes sEMG's characteristics and main feature extraction methods'traits and suiting case. sEMG's iEMG, RMS, Mean Power Frequency and Median Frequency are extracted.In the aspect of sEMG's quantitative definition, this paper uses the sEMG's RMS, Mean Power Frequency and joint angle as the input of the network to train and simulates the network predicting the angle of testing set. Prediction effect assessment and contrast between different sEMG features are also enforced. Meanwhile, this paper also concludes the influence lead by motion velocity and individual difference. In addition, this paper discusses and analyzes the relationship between sEMG and joint motion acceleration and velocity.In the aspect of sEMG quantitative definition's application, this paper carries out the upper limb rehabilitation robot motion control, introducing the system constitution and automatic passive training scheme of the robot which combine the BioGraph Infiniti System as the experiment system, analyzing the two kinds of motion control methods of the robot and proposing the method based on sEMG quantitative definition aiming at hemiplegia patients combing the theoretic basis in the preceding chapters and finally carrying out the experiment with the result showing that the effect of sEMG quantitative definition is good enough to be applied in the upper limb rehabilitation robot motion control.