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首页> 美国卫生研究院文献>Sensors (Basel Switzerland) >A Method to Accurately Estimate the Muscular Torques of Human Wearing Exoskeletons by Torque Sensors
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A Method to Accurately Estimate the Muscular Torques of Human Wearing Exoskeletons by Torque Sensors

机译：用扭矩传感器准确估算人体外骨骼肌肉扭矩的方法

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In exoskeletal robots, the quantification of the user’s muscular effort is important to recognize the user’s motion intentions and evaluate motor abilities. In this paper, we attempt to estimate users’ muscular efforts accurately using joint torque sensor which contains the measurements of dynamic effect of human body such as the inertial, Coriolis, and gravitational torques as well as torque by active muscular effort. It is important to extract the dynamic effects of the user’s limb accurately from the measured torque. The user’s limb dynamics are formulated and a convenient method of identifying user-specific parameters is suggested for estimating the user’s muscular torque in robotic exoskeletons. Experiments were carried out on a wheelchair-integrated lower limb exoskeleton, EXOwheel, which was equipped with torque sensors in the hip and knee joints. The proposed methods were evaluated by 10 healthy participants during body weight-supported gait training. The experimental results show that the torque sensors are to estimate the muscular torque accurately in cases of relaxed and activated muscle conditions.
机译：在外骨骼机器人中，量化用户的肌肉力量对于识别用户的运动意图和评估运动能力很重要。在本文中，我们尝试使用关节扭矩传感器准确估算用户的肌肉力量，该传感器包含对人体动态影响的测量值，例如惯性，科里奥利和重力扭矩以及主动肌肉力量产生的扭矩。从测得的扭矩中准确提取出用户肢体的动态影响非常重要。制定了用户的肢体动力学，并建议了一种识别用户特定参数的简便方法，以估算机器人外骨骼中的用户肌肉扭矩。实验是在轮椅上集成的下肢外骨骼EXOwheel进行的，该外骨骼在臀部和膝盖关节配备了扭矩传感器。在体重支持的步态训练过程中，由10名健康参与者对提出的方法进行了评估。实验结果表明，在松弛和激活的肌肉状况下，扭矩传感器可准确估算肌肉扭矩。

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