EMGに基づく筋負荷を考慮した最適な立ち上がり動作軌道の生成

概要

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Standing from a chair is an important task of daily living for physically handicapped people. In a rehabilitation center, a health care professional is planning motion based on the experience and knowledge so that a patient may stand up with few loads. Therefore, there is a problem that the plan is different occasionally as each health care professional. In this paper, a generation method of motion trajectory to stand from a seated position with few loads by using Genetic Algorithm (GA) was proposed. The human body was expressed as three-rigid-link model. In the model, the ankle, the knee, and the waist were set to the joint. Moreover, Electromyography (EMG) generated from the muscle to drive each joint was measured, and the model between each joint torque and EMG was constructed with the ARX model. The motion trajectory to stand from the seated position was generated by using GA with the evaluation function based on the constructed ARX model. The generated motion trajectory was evaluated by the experimental work with eight healthy subjects. As a result, the effect of the proposed method was objectively verified by subjects EMG. In addition, subjective effect of the proposed method was verified by analysis of variance about subjects impression.