基于柔性阵列肌电信号的空间外骨骼运动意图辨识方法

Identification of Space Exoskeleton Motion Intention Based on Flexible Array EMG Signal

针对太空微重力环境对IMU等传感器的影响问题,提出基于柔性阵列肌电信号(EMG)的空间外骨骼运动意图辨识方法,以提高意图辨识的实时性。首先提出了柔性阵列电极以及扫频筛选通断检测方法,将人体运动时与皮肤不接触电极点进行物理隔离,并研制分布式肌电采集系统,精确获取人体运动时各个肌肉群的肌电信号;然后通过比较分析确定了基于样本熵的运动意图辨识方法;最后,在搭建的模拟低重力试验系统上进行运动意图辨识测试。结果表明:本方法具有较高的识别准确率及响应速率,支撑了人机协同控制。

Targeting the influence of space micro-gravity environment on IMU and other sensors,a space exoskeleton motion intention identification method based on flexible array EMG signal was proposed so as to improve the real-time performance of intention identification.First,the flexible array electrode and sweep frequency screening on-off detection method were proposed to physically isolate the electrode points without any contact to the skin during human movement,and a distributed EMG acquisition system was developed to accurately obtain the EMG signals of each muscle group during human movement.Then the motion intention identification method based on sample entropy was determined through comparative analysis.Finally,the motion intention identification test was carried out in the simulated low gravity test system.The results showed that this method had high recognition accuracy and response rate,and it could support the man-machine cooperative control.