Volitional Control of a Prosthetic Knee Using Surface Electromyography

摘要: This paper presents a method for providing volitional control of powered knee prosthesis during nonweight-bearing activity such as sitting. The utilizes an impedance framework, that the joint can be programmed with given stiffness and damping reflects nominal properties intact joint. Volitional movement is commanded via set-point angle impedance, which by user function measured surface electromyogram (EMG) from hamstring quadriceps muscles residual limb. Rather than using respective EMG measurements these to directly command flexion or extension set point knee, presented approach combination quadratic discriminant analysis principal component align user's intent flex extend pattern EMG. was implemented on three transfemoral amputees, their ability characterized trajectory tracking tasks. Each amputee subject also performed same tasks his sound side (intact) average root mean square errors prosthetic employing EMG-based subjects were 6.2° 5.2°, respectively.