抄録
There have been several studies undertaken of A/K (above-knee) prostheses capable of automatically adjusting the damping moment around the knee joint whereby an amputee may walk with his voluntary walking period. To control these A/K prostheses, the next step's walking period should be predicted in advance by estimating the amputee's intention during walking. EMG (electromyogram) was then introduced as a means of transmission of an amputee's intention. Taking into consideration the fact that limbs are activated by cooperative work of a flexor and an extensor, the EMG should be picked up from two location—one from a flexor and the other from an extensor. Hence the approach at predicting the next step's walking period by 2-channel EMG data has been performed.
The digital filtering algorithm for eliminating the low frequency noise on EMG was designed.
The recursive prediction algorithm by 2-channel EMG data was designed.
The experiment to predict the next step's walking period was performed by EMG picked up from various locations on normal person's thigh during level walking. From the results, it was found that the proposed prediction algorithm predicted the next step's walking period precisely when EMGs were picked up from the combination of M. tensor fasciae latae and M. gracilis.
