Research On Joint Motion Intention Based On Force Electric Signal

First the concept of the exoskeleton is around 1960,but due to its too many areas,so hasn't been much progress,but in nearly a decade finally external bone a breakthrough.Received great attention in recent years,the exoskeleton system,to break through the limits of that it is very tempting,also have high achievements in many areas,such as medical rehabilitation training,physical support,auxiliary and so on.People dressed in smart exoskeleton,on the one hand,to be able to hold to protect themselves and to support the body,on the other hand also free to control it to do a lot of things a person can't do before.Joint is crucial in the human body structure,based on the elbow as the main research object.Elbow is a complicated structure,has the noticeable function in the upper limbs,not only connect the hands and wrists,and closely combined with shoulder joint,is very important to the human body.Elbow is the middle of the upper limb joints,position between upper arm and forearm,this geometry form a mechanical chains,approximate a compasses.In order to be able to play to the role of the hand,perfect as the main function of the rotation of the forearm movement and boom and arm,and shoulder joint collaboration together,guarantee their hands anywhere near the body move freely.In People's Daily work and life,elbow plays a very important role.When people need to take food,for example,when the elbow is not only to unbend,even prior to spin,hand can get food,and then after elbow flexion after spinning,the hand can reach to the shoulder and the location of the mouth,the food can be convenient for the body to absorb.And in all kinds of upper limb movement of sporting events,for example,if not enough skilled technical action,overload,the early stage of the training load do not have enough warm-up activity and muscle fatigue and a series of often elbow joint damage.Studies show that around the elbow joint control muscle group determines the degree of safety.So the control of muscle group will have considerable influence,not only in medicine,sports and other fields,can also prevent elbow lesions at the same time,it can play a very positive role.Intelligent exoskeleton system technology the key point lies in the knowledge from the human body movement intentions,also is the purpose of the sports information acquisition and recognition.Electromyographic signal and eeg signals collected for the current mainstream way of access to information,but there are some drawbacks with the two kinds of acquisition methods,such as vulnerable to skin conductivity and temperature changes,such as ecg signal interference.In addition,as a result of the electromyographic signal spectrum distribution is narrow,and the signal value is very weak,so in the actual collection,hard to ensure the consistency and reliability of the signal.In brother,on the basis of the research content,in view of the problems mentioned above,further set up to control the piezoelectric signal as the input of the muscle group and joint Angle trajectory model for the output of elbow joint biomechanics.With single degree of freedom as the main research object,the elbow flexion and extension set for elbow motion information acquisition system,and studied many kinds of multi-sensor data fusion estimation algorithm,after comparing simulation,determine the adaptive kalman filter algorithm is the most appropriate,the elbow biomechanical model are verified through the experiment,the calculated joint Angle trajectory Angle compared with the actual measured joints,found that the fitting effect is good,explain the process of elbow motion through gathering the piezoelectric signal can reflect the elbow motion intentions.