基于肌肉神经活跃度反馈的航天服关节助力技术研究

Study on Spacesuit Joint Motion Assistance Based on Neuromuscular Activation Feedback

为解决航天服隔离助力系统与人体造成的人机运动协同问题,提出了基于肌肉神经活跃度建模的肌力特征识别方法,从肌电信号(EMG)量化分析了肌肉发力水平,而后根据肌肉实时发力意图对助力系统进行动力学控制,实现了航天员、航天服与助力系统的协同运动。最后,通过穿戴式柔索传动系统模拟了航天服肘关节助力工效实验,对基于肌肉神经活跃度的关节助力技术进行了验证。

To solve the human-machine cooperation problem caused by physical isolation of the motion assistive system and astronaut in spacesuit,a recognition method based on neuromuscular activation modeling was proposed to analyze the muscle force level quantitatively.Then the dynamic control of the motion assistive system was implemented based on the real-time muscle contraction intention to ensure the cooperative motion of the astronaut,spacesuit and motion assistive system.In the end,a wearable cable-driven system was used in the simulation experiment to test the spacesuit elbow motion assistive efficiency.The motion assistive technology based on neuromuscular activation was verified.