- 學位論文
肌電訊號意圖偵測之任務導向上肢復健
Task-oriented Upper Limb Rehabilitation through EMG Sensing-based Intention
摘要
臨床上因神經或骨骼疾病導致的上肢運動功能障礙疾病相當常見，這些疾病會造成肌力不足、異常的肌肉放電模式及無法自主控制關節活動等病徵。患者能夠經由長期反覆性的復健治療來恢復原有的運動功能。然而傳統的復健療程通常是耗時且耗力的。因此，我們開發了外骨骼上肢復健機器人NTUH-II來提供上肢復健及減少治療師的負擔。本研究提出一套經由偵測肌電訊號的運動意圖辨識模型來提供機器人輔助之任務導向上肢復健並實現於外骨骼機器人NTUH-II。 根據運動學習相關理論，任務導向的復健方式於臨床上證實能夠讓患者有效率地恢復日常生活功能。於相關的文獻中，使用力/力矩感測器及肌電訊號的控制方式在建立人機互動模型及提供輔助模式復健上有較高的難度。本研究提出的運動意圖辨識模型能透過偵測到的肌肉電訊號來預測使用者所想要動作的方向。結合運動意圖辨識模型及我們先前提出的基於交互作用扭矩觀測器主動控制方法，不僅能提供被動模式的復健，也能提供主動及輔助模式的任務導向復健療程。 本研究提出的方法經過三位健康受試者測試，實驗結果顯示本研究提出的方法於復健任務中的表現優於相關的研究並能提升觀測器主動控制方法的表現。而在輔助模式中，能夠有效的減少受試者的施力。此外，本方法能夠簡單的擴展為各種不同復健療程。
並列摘要
Various upper limb’s movement-related impairments, either orthopedic- or neurological-originated, clinically present characteristics of insufficient muscle strength, altered muscle firing patterns or inability to actively control the joint. Patients suffer from these diseases require duly rehabilitation to regain their motor function. However, the conventional therapies are usually time-consuming and labor-intensive. In order to reduce the burdens of therapists, we developed an exoskeleton robot, named NTUH-II, for upper limb rehabilitation. In this research, a new robot-assisted task-oriented rehabilitation therapy with electromyography (EMG) sensing-based motion intention recognition model (MIRM) for upper limb has been developed and implemented on NTUH-II. With the concept of motor learning theory, clinical study has shown that task-oriented rehabilitation is an efficient way to relearn the activities of daily living (ADL). In related works, both force/torque sensor and EMG based control strategies have difficult in building human-robot interactive model and providing active-assistive therapy for patient whose muscle strength is insufficient. The proposed MIRM can predict the intended motion direction of human in a task from the electrical activation of muscles. By the proposed MIRM along with our previous proposed interactive torque observer based active controller, not only passive mode therapy but also active and active-assistive mode task-oriented rehabilitation therapies are available for patients. Various experiments have been conducted on three healthy subjects to verify the performance of the proposed method, and the results show that the performance of the proposed method exceeds the state-of-the-art works and improves the observer based active control during the rehabilitation tasks. Also, less effort is needed in active-assistive mode. Besides, the propose method can be extended to develop several kinds of task in robot-assisted rehabilitation therapy.