Continuous Motion Estimation of Elbow Joint Based on Multi-Modal Information Fusion / 医用生物力学

Objective Aiming at the problems of lacking initiative in upper limb rehabilitation training equipment, single training mode, and low active participation of patients, an upper limb continuous motion estimation algorithm model based on multi-modal information fusion was proposed, so to realize accurate estimation of elbow joint torque. Methods Firstly, the surface electromyography (sEMG) signal and posture signal of participants were collected at four angular velocities, and the time domain characteristics of the signal were extracted. The principal component analysis was adopted to multi-feature fusion. The back propagation neural network (BPNN) was optimized through the additional momentum and the adaptive learning rate method. The particle swarm optimization (PSO) algorithm was used to optimize the neural network and a continuous motion estimation model based on PSO-BPNN was constructed. Finally, the joint torque calculated by the second type of Lagrangian equation was used as the accurate value to train the model. The performance of the model was compared with the traditional BP neural network model. Results The root mean square error (RMSE) of the traditional BP neural network model was 558.9 N·m, and the R2 coefficient was 77.19%, Whereas the RMSE and the R2 coefficient of the optimized model were 113.6 mN·m and 99.12%, respectively.Thereby, the accuracy of torque estimation was improved apparently. Conclusions The method for continuous motion estimation of the elbow joint proposed in this study can estimate the motion intention accurately, and provide a practical scheme for the active control of upper exoskeleton rehabilitation robot.

Assessment of Postoperative Surface Electromyography and Joint Angle in Children with Spastic Cerebral Palsy / 医用生物力学

Objective To analyze and assess the postoperative motor function in children with spastic cerebral palsy (SCP) by surface electromyography (sEMG) and joint angle. Methods Sixteen children with SCP were involved in this study. The sEMG of rectus femoris, biceps femoris, semitendinosus, tibialis anterior, lateral gastrocnemius and medial gastrocnemius muscles and joint angles of the hip, knee and ankle during straight walking were collected preoperatively and postoperatively. In every gait phase, the mean values of joint angles, root mean square and integrated electromyography of sEMG were calculated, to evaluate muscle strength and muscular tension quantitatively. Results The muscle tension of lower limbs was significantly decreased (P<0.05). The muscle strength of rectus femoris and biceps femoris was decreased in the swing phase. At the midswing and terminal swing phase, the strength of tibialis anterior increased significantly (P<0.05). The flexion angle of hip and knee decreased significantly (P<0.05). The dorsiflexion angle of ankle increased significantly (P<0.05), and the varus angle decreased significantly (P<0.05). Conclusions After operation, the crouching gait and clubfoot were improved positively. Therefore, the motor function of children was improved. Combining sEMG and joint angle can evaluate the muscle function of patients quantitatively, and it also can provide references for clinical diagnosis.

Research progress on intelligent assessment system for upper limb function of stroke patients / 生物医学工程学杂志

At present, the upper limb function of stroke patients is often assessed clinically using a scale method, but this method has problems such as time-consuming, poor consistency of assessment results, and high participation of rehabilitation physicians. To overcome the shortcomings of the scale method, intelligent upper limb function assessment systems combining sensors and machine learning algorithms have become one of the hot research topics in recent years. Firstly, the commonly used clinical upper limb functional assessment methods are analyzed and summarized. Then the researches on intelligent assessment systems in recent years are reviewed, focusing on the technologies used in the data acquisition and data processing parts of intelligent assessment systems and their advantages and disadvantages. Lastly, the current challenges and future development directions of intelligent assessment systems are discussed. This review is hoped to provide valuable reference information for researchers in related fields.

Research progress on analysis methods in electroencephalography-electromyography synchronous coupling / 生物医学工程学杂志

The motor nervous system transmits motion control information through nervous oscillations, which causes the synchronous oscillatory activity of the corresponding muscle to reflect the motion response information and give the cerebral cortex feedback, so that it can sense the state of the limbs. This synchronous oscillatory activity can reflect connectivity information of electroencephalography-electromyography (EEG-EMG) functional coupling. The strength of the coupling is determined by various factors including the strength of muscle contraction, attention, motion intention etc. It is very significant to study motor functional evaluation and control methods to analyze the changes of EEG-EMG synchronous coupling caused by different factors. This article mainly introduces and compares coherence and Granger causality of linear methods, the mutual information and transfer entropy of nonlinear methods in EEG-EMG synchronous coupling, and summarizes the application of each method, so that researchers in related fields can understand the current research progress on analysis methods of EEG-EMG synchronous systematically.

Study on the center-driven multiple degrees of freedom upper limb rehabilitation training robot / 生物医学工程学杂志

With the aging of the society, the number of stroke patients has been increasing year by year. Compared with the traditional rehabilitation therapy, the application of upper limb rehabilitation robot has higher efficiency and better rehabilitation effect, and has become an important development direction in the field of rehabilitation. In view of the current development status and the deficiency of upper limb rehabilitation robot system, combined with the development trend of all kinds of products of the upper limb rehabilitation robot, this paper designed a center-driven upper limb rehabilitation training robot for cable transmission which can help the patients complete 6 degrees of freedom (3 are driven, 3 are underactuated) training. Combined the structure of robot with more joints rehabilitation training, the paper choosed a cubic polynomial trajectory planning method in the joint space planning to design two trajectories of eating and lifting arm. According to the trajectory equation, the movement trajectory of each joint of the robot was drawn in MATLAB. It laid a foundation for scientific and effective rehabilitation training. Finally, the experimental prototype is built, and the mechanical structure and design trajectories are verified.