第2期 姜峰，等：利用肌电信号求解关节力矩的研究及应用综述 ·203· from EMG signals during isometric contractions using can appropriately account for muscle co-contraction in the Kalman filters[J].Biological cybernetics,2017,111(5/6) estimation of hip joint contact forces in people with hip 335-346. osteoarthritis[J].Journal of biomechanics,2019,83: [69]MA Ye,XIE Shengquan,ZHANG Yanxin.A patient-spe- 134142. cific EMG-driven neuromuscular model for the potential [78]BUCHANAN T S,MONIZ M J,DEWALD J P A,et al. use of human-inspired gait rehabilitation robots[J].Com- Estimation of muscle forces about the wrist joint during puters in biology and medicine,2016.70:88-98. isometric tasks using an EMG coefficient method[J]. [70]WANG He,ZHANG Xiaodong,CHEN Jiangcheng,et al. Journal of biomechanics,1993,26(4/5):547-560. Realization of human-computer interaction of lower limbs [79]VAN DEN BOGERT A J.BLANA D,HEINRICH D. rehabilitation robot based on sEMG[C]//Proceedings of Implicit methods for efficient musculoskeletal simulation the 4th Annual IEEE International Conference on Cyber and optimal control[J].Procedia IUTAM,2011,2: Technology in Automation.Hong Kong,China,2014: 297-316. 491-495. [80]BUENO D R,MONTANO L.Neuromusculoskeletal [71]SHAO Qi,BASSETT D N,MANAL K,et al.An EMG- model self-calibration for on-line sequential Bayesian mo- driven model to estimate muscle forces and joint mo- ment estimation[J].Journal of neural engineering,2017. ments in stroke patients[J].Computers in biology and 142:026011. nedicine,2009,3912):1083-1088. 作者简介： [72]PIZZOLATO C.LLOYD D G.SARTORI M.et al. 姜峰，教授，EEE哈尔滨信号处 CEINMS:a toolbox to investigate the influence of differ- 理分会主席、美国Princeton大学电子 ent neural control solutions on the prediction of muscle 工程系访问学者、核九院特聘专家、黑 excitation and joint moments during dynamic motor 龙江VR联盟首席专家，主要研究方 tasks[J].Journal of biomechanics,2015,48(14): 向为计算机视觉、模式识别、视频图像 3929-3936 处理、下肢外骨骼机器人。近5年主 [73]ZHUANG Yu,YAO Shaowei,MA Chenming,et al.Ad- 持国家自然科学基金面上项目、国家 mittance control based on EMG-driven musculoskeletal 自然科学基金青年项目、军委科技委项目、国际合作项目等 10余项；参与国家重点研发计划、国家自然科学基金重点项 model improves the human-robot synchronization[J]. 目、国家973计划、863计划、国际合作项目20项。获军队 IEEE transactions on industrial informatics,2018,15(2): 科技进步二等奖（排名第二）、黑龙江省高校科技奖一等奖。 1211-1218 出版中文、英文专著和教材3部。发表学术论文100余篇。 [74]LLOYD D G.BUCHANAN T S.Strategies of muscular support of varus and valgus isometric loads at the human 尹逊锋，硕士研究生，主要研究方 knee[J].Journal of biomechanics,2001,34(10): 向为下肢外骨酪机器人、人体运动学、 1257-1267. 生物电信号分析。 [75]OLNEY S J,WINTER D A.Predictions of knee and ankle moments of force in walking from EMG and kin- ematic data[J].Journal of biomechanics,1985,18(1): 9-20. [76]RAJAGOPAL A.DEMBIA C L.DEMERS M S,et al. 衣淳植，博士研究生，主要研究方 向为下肢外骨骼机器人、人机协作、人 Full-body musculoskeletal model for muscle-driven simu- 体运动学、惯性导航、仿生学。 lation of human gait[J].IEEE transactions on biomedical engineering.2016,63(10):2068-2079. [77]HOANG H X.DIAMOND L E.LLOYD D G.et al.A calibrated EMG-informed neuromusculoskeletal modelfrom EMG signals during isometric contractions using Kalman filters[J]. Biological cybernetics, 2017, 111(5/6): 335–346. MA Ye, XIE Shengquan, ZHANG Yanxin. A patient-spe￾cific EMG-driven neuromuscular model for the potential use of human-inspired gait rehabilitation robots[J]. Com￾puters in biology and medicine, 2016, 70: 88–98. [69] WANG He, ZHANG Xiaodong, CHEN Jiangcheng, et al. Realization of human-computer interaction of lower limbs rehabilitation robot based on sEMG[C]//Proceedings of the 4th Annual IEEE International Conference on Cyber Technology in Automation. Hong Kong, China, 2014: 491–495. [70] SHAO Qi, BASSETT D N, MANAL K, et al. An EMG￾driven model to estimate muscle forces and joint mo￾ments in stroke patients[J]. Computers in biology and medicine, 2009, 39(12): 1083–1088. [71] PIZZOLATO C, LLOYD D G, SARTORI M, et al. CEINMS: a toolbox to investigate the influence of differ￾ent neural control solutions on the prediction of muscle excitation and joint moments during dynamic motor tasks[J]. Journal of biomechanics, 2015, 48(14): 3929–3936. [72] ZHUANG Yu, YAO Shaowei, MA Chenming, et al. Ad￾mittance control based on EMG-driven musculoskeletal model improves the human-robot synchronization[J]. IEEE transactions on industrial informatics, 2018, 15(2): 1211–1218. [73] LLOYD D G, BUCHANAN T S. Strategies of muscular support of varus and valgus isometric loads at the human knee[J]. Journal of biomechanics, 2001, 34(10): 1257–1267. [74] OLNEY S J, WINTER D A. Predictions of knee and ankle moments of force in walking from EMG and kin￾ematic data[J]. Journal of biomechanics, 1985, 18(1): 9–20. [75] RAJAGOPAL A, DEMBIA C L, DEMERS M S, et al. Full-body musculoskeletal model for muscle-driven simu￾lation of human gait[J]. IEEE transactions on biomedical engineering, 2016, 63(10): 2068–2079. [76] HOANG H X, DIAMOND L E, LLOYD D G, et al. A calibrated EMG-informed neuromusculoskeletal model [77] can appropriately account for muscle co-contraction in the estimation of hip joint contact forces in people with hip osteoarthritis[J]. Journal of biomechanics, 2019, 83: 134–142. BUCHANAN T S, MONIZ M J, DEWALD J P A, et al. Estimation of muscle forces about the wrist joint during isometric tasks using an EMG coefficient method[J]. Journal of biomechanics, 1993, 26(4/5): 547–560. [78] VAN DEN BOGERT A J, BLANA D, HEINRICH D. Implicit methods for efficient musculoskeletal simulation and optimal control[J]. Procedia IUTAM, 2011, 2: 297–316. [79] BUENO D R, MONTANO L. Neuromusculoskeletal model self-calibration for on-line sequential Bayesian mo￾ment estimation[J]. Journal of neural engineering, 2017, 14(2): 026011. [80] 作者简介： 姜峰，教授，IEEE 哈尔滨信号处 理分会主席、美国 Princeton 大学电子 工程系访问学者、核九院特聘专家、黑 龙江 VR 联盟首席专家，主要研究方 向为计算机视觉、模式识别、视频图像 处理、下肢外骨骼机器人。近 5 年主 持国家自然科学基金面上项目、国家 自然科学基金青年项目、军委科技委项目、国际合作项目等 10 余项；参与国家重点研发计划、国家自然科学基金重点项 目、国家 973 计划、863 计划、国际合作项目 20 项。获军队 科技进步二等奖 (排名第二)、黑龙江省高校科技奖一等奖。 出版中文、英文专著和教材 3 部。发表学术论文 100 余篇。 尹逊锋，硕士研究生，主要研究方 向为下肢外骨骼机器人、人体运动学、 生物电信号分析。 衣淳植，博士研究生，主要研究方 向为下肢外骨骼机器人、人机协作、人 体运动学、惯性导航、仿生学。 第 2 期 姜峰，等：利用肌电信号求解关节力矩的研究及应用综述 ·203·