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首页> 外文期刊>Latin America transactions >Robotic Knee Exoskeleton Prototype to Assist Patients in Gait Rehabilitation
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Robotic Knee Exoskeleton Prototype to Assist Patients in Gait Rehabilitation

机译：机器人膝关节外骨骼原型，以帮助患者在步态康复中

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This paper presents the design and development of a low cost robotic knee exoskeleton with mobile interface for active assistance of gait rehabilitation of patients who suffer lower limb impairment. Interaction based on electromyography (EMG) is used for detecting motion intention to recognize muscular activity patterns by applying artificial neural network (ANN) algorithms. A comparison of muscular activity between the rectus femoris of each lower limb is made in order to find which offers better results. Once the system identifies a motion intention, it generates a predefined trajectory that mimics the gait cycle pattern of the knee joint. The actuator of the exoskeleton is required to accomplish this movement based on a position control strategy. The exoskeleton's operation is supervised remotely through a mobile device, which is connected to a database that contains three rehabilitation routines previously set by medical staff. The robotic knee prototype is validated by monitoring its performance while being used, initially by healthy subjects.
机译：本文介绍了一种带有移动界面的低成本机器人膝盖外骨骼的设计和开发，用于患有较低肢体损伤的患者的步态康复的积极援助。基于电拍摄（EMG）的相互作用用于检测运动意图来通过应用人工神经网络（ANN）算法来识别肌肉活动模式。进行每个下肢的直肠股骨之间的肌肉活动的比较，以便找到它提供更好的结果。一旦系统识别出运动意图，它会产生预定义的轨迹，其模拟膝关节的步态循环模式。基于位置控制策略，需要外骨骼的致动器来实现该运动。 exoskeleton的操作通过移动设备远程监督，该移动设备连接到数据库，该数据库包含先前由医务人员设置的三例康复程序。通过在最初由健康受试者使用时通过监测其性能来验证机器人膝原型。

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