基于肌电信号的变刚度机器人关节运动性能提升机制

doi:10.3901/JME.2025.23.027

摘要/Abstract

摘要： 为探索人机共融环境中机器人柔顺性和环境适应性的问题，提出了一种基于表面肌电信号驱动拮抗式柔性变刚度机器人关节的方法。该方法利用表面肌电信号和改进Hill肌肉模型的肘关节刚度估计策略，通过肌电信号数据计算关节力矩和角度，从而得到人体肌肉骨骼系统在运动过程中的刚度变化规律。提出结合表面肌电信号和神经网络的运动角度和关节刚度估计方法，实现拮抗式变刚度关节的刚度与位置解耦控制。设计了一种生理-物理控制方案，模拟人体肘关节位置与刚度协调规律，用于提升变刚度机器人关节的运动能力。最后，通过飞镖投掷实验证明借鉴人体肌肉骨骼系统刚度调节规律，可以增强变刚度机器人关节的执行任务动作的运动性能。这一研究为机器人在复杂人机交互环境中的应用提供了新的思路和技术支持。

关键词: 变刚度, 机器人关节, 肌电信号, Hill肌肉模型, 运动能力

Abstract: To explore the challenges of robot compliance and environmental adaptability in human-robot collaborative environments, a method is proposed for driving antagonistic flexible variable stiffness robotic joints based on surface electromyographic (sEMG) signals. This method employs an elbow joint stiffness estimation strategy derived from sEMG signals and an improved Hill muscle model to calculate joint torques and angles, thereby capturing the stiffness variation patterns of the human musculoskeletal system during motion. A motion angle and joint stiffness estimation approach integrating sEMG signals with neural networks is introduced to achieve decoupled control of stiffness and position in antagonistic variable stiffness joints. A physiological-physical control scheme is designed to emulate the coordination patterns of position and stiffness in the human elbow joint, aiming to enhance the motion capabilities of variable stiffness robotic joints. Finally, dart-throwing experiments demonstrate that incorporating the stiffness regulation principles of the human musculoskeletal system can improve the motion performance of variable stiffness robotic joints in task execution. This research provides new insights and technical support for the application of robots in complex human-robot interaction environments.

Key words: variable stiffness, robot joint, EMG signal, hill muscle model, athletic ability

中图分类号:

TP242

张明, 郭怀超, 温建明, 孙凤, 孙兴伟, 房立金, 岡宏一. 基于肌电信号的变刚度机器人关节运动性能提升机制[J]. 机械工程学报, 2025, 61(23): 27-40.

ZHANG Ming, GUO Huaichao, WEN Jianming, SUN Feng, SUN Xingwei, FANG Lijin, OKA Koichi. Mechanism of Improving Joint Motion Performance of Variable Stiffness Robot Based on EMG Signal[J]. Journal of Mechanical Engineering, 2025, 61(23): 27-40.

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