目录目录........................................................1摘要........................................................1Abstract........................................................3第1章绪论.....................................................51.1课题背景及研究意义......................................................................................51.2国内外研究现状..............................................................................................71.2.1康复机器人系统研究现状...........................................................................71.2.2基于sEMG运动意图识别的研究现状.......................................................91.2.3上肢刚度估计的研究现状.........................................................................101.3主要问题........................................................................................................111.4本文研究内容................................................................................................12第2章上肢表面肌电信号的采集及预处理.........................132.1肌电信号的产生机理....................................................................................132.2肌电信号采集平台及肌电实验设计............................................................142.3小波变换理论基础简介................................................................................172.4小波阈值量化去噪........................................................................................202.5本章小结........................................................................................................24第3章基于小波变换的特征提取和基于多类模式识别算法的运动意图识别...................................................................253.1常用特征提取方法........................................................................................253.2基于小波变换的小波系数提取....................................................................273.3小波系数的特征对比与分析........................................................................293.4离线分类........................................................................................................333.4.1距离判别算法简介.....................................................................................333.4.2多类动作分类结果分析.............................................................................353.5短时窗分类....................................................................................................373.5.1BP神经网络算法简介...............................................................................373.5.2搭建BP神经网络模型..............................................................................393.5.3基于神经网络的短时窗分类实验结果.....................................................413.6本章小结........................................................................................................43第4章基于sEMG的BP神经网络估计刚度.........................454.1Hill-type肌肉模型建立................................................................................454.2肌肉刚度计算方法........................................................................................464.3基于Hill-type模型和神经网络的刚度估计................................................494.4不同负载下的刚度变化对比.............................................
