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The Effect of Hand Load on Orientation of Arm Muscles

机译：手负荷对手臂肌肉方向的影响

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How can rehabilitation robot move accurately and smoothly like human beings? It's necessary to study the patterns of muscle activity.In this paper,the impact of hand load on muscle's preferred orientation of activation was studied.The arm surface electromyography (EMG) of 5 experiment subjects was recorded respectively at 16 different target locations on a horizontal circle and with different load of hand.At the same time,the hand's three-dimensional motion was recorded by motion capture system.Then,the characteristic parameters of EMG were calculated.The experiment took the right arm of healthy people as study subject.The results showed that each arm muscle has a particular orientation angle,and with the hand load increased,the muscle orientation angle drifts regularly.These parameters would be useful to determine how to drive and control a robot.
机译：康复机器人如何像人一样准确，平稳地运动？有必要研究肌肉活动的模式。本文研究了手负荷对肌肉优选激活方向的影响。分别在水平方向的16个不同目标位置记录了5名实验对象的手臂表面肌电图（EMG）。同时，通过运动捕捉系统记录手的三维运动，然后计算肌电图的特征参数，以健康人的右臂为研究对象。结果表明，每条手臂的肌肉都有特定的方向角，并且随着手负荷的增加，肌肉的方向角会规律地漂移。这些参数对于确定如何驱动和控制机器人非常有用。

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