中文摘要：

基于两侧下肢步态具有对称性的假说,现阶段采用以表面肌电信号为控制源的主动型康复机器人,其研究对象多数为一侧下肢,但该假说至今仍然存在很大争议.研究的目的是定量分析两侧下肢对应肌肉活跃程度的差异性.由9名试验者参与静态稳定（静止站立）和动态稳定（行走）两种实验,分别采集每位试验者的两侧胫骨前肌和内侧腓肠肌表面肌电信号,并利用最大自主收缩对所有的表面肌电信号数据进行标准化处理.通过对比两种实验状态中两侧下肢对应肌肉的活跃程度,发现对应肌肉在活跃程度上表现出明显的差异性.在静态稳定实验中,右侧胫骨前肌的活跃度为左侧的3.1倍,左侧内侧腓肠肌的活跃度为右侧的1.5倍；在动态稳定实验中,对应肌肉活跃的差异程度与速度之间存在较强负相关性（rTA=-0.759,rMG=-0.639）.最终的实验结果表明,尽管两侧下肢对应肌肉的功能和募集模式相同,但在活跃程度上表现出明显的差异性,并且这种差异性与速度具有较强的负相关性.研究成果对基于表面肌电信号的主动型双侧外骨骼康复机器人运动控制阈值的设定以及脑卒中患者的康复评估具有参考价值.

英文摘要：

Most of the studies about active rehabilitation robot use sEMG signal as the control source, and they usually relied on unilateral data collection, base on the gait symmetry hypothesis. The purpose of this study was to investigate the quantitative difference between the muscle activity of the bilateral lower extremities. Nine healthy subjects consented to participate in the study that included collection the sEMG signals of bilateral pairs of muscles （tibialis anterior and medial gastrocnemius） of the lower extremities during the static stability （standing straight） and the dynamic stability （walking）. The sEMG signals were normalized by the MVC value. Comparing the level of the muscle activity of the bilateral lower extremities during the two kinds of experiments, we observed significant differences between the muscles. The right TA muscle activity was 3. 1 times that of the left side, and left MG muscle activitiy was 1.5 times that of the right side at the static stability; during dynamic stability, strong negative correlation existed between the difference of muscle activity of the bilateral lower extremities and speeds （ rTA = -- 0. 759, rMg = -- 0. 639）. In summary, the experimental results showed that there were significant differences between the muscle activity of the bilateral lower extremities, which have strong negative correlation with speeds, though the bilateral muscles had same function and recruitment pattern. The results are of significance of setting the motion control threshold of the active bilateral exoskeleton rehabilitation robot and the rehabilitation assessment of the stroke patients that base on sEMG.