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The Effect of Hand Load on Orientation of Arm Muscles

机译：手载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：康复机器人如何准确且平稳地像人类一样移动？研究了肌肉活动的模式。在本文中，研究了手工载荷对肌肉的优选激活取向的影响。5个实验对象的臂表面肌电图（EMG）分别在水平的16个不同的目标位置记录。圆圈和含有不同的手。同时，通过运动捕获系统记录手的三维运动。该试验，emg的特征参数被计算出来。实验担任健康人的右臂作为研究主题。结果表明，每个手臂肌肉具有特定的取向角，并且随着手柄增加，肌肉取向角度定期漂移。这些参数可用于确定如何驱动和控制机器人。

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