Biotechnical control system based on electromyogram, electroimpedance and myotonogram signals

摘要

This research aims to development of a biotechnical control system robotic bionic devices by complexing signals of electromyogram, electrical impedance and myotonogram. In article the possibility of using this system to solve the problem is being investigated implementation of anthropomorphic and proportional control of robotic devices. The biological object was the upper limb with the most demanded basic hand actions: flexion, extension, grip, pronation, supination. In order to preserve the existing principles in the construction of commercially available bioelectric medical devices have been carried out complex registration of signals by means of two measuring systems from the muscles of the forearm antagonists. Special laboratory complex was developed and assembled. The measuring system includes a tetrapolar electrode system for recording electromyogram and electrical impedance signals and strain-gage force sensor for registration myotonogram signal. Analysis of the received signals of electromyogram, electrical impedance and myotonogram showed that using the investigated biotechnical system control when performing basic wrist actions, the beginning of the action is possible register by electromyogram signal. It was obtained that it possible to exercise proportionality control using the myotonogram signal and to determine the type of performed actions on the signal of electrical impedance. Research results confirm that the complexing of signals of neuromuscular activity of different physical nature allows for more efficient control bionic devices without increasing the number of channels to perform basic actions.