Controlling exoskeletons with EMG signals and a biomechanical body model

نویسنده

  • Christian Fleischer
چکیده

This work presents a control system for exoskeletons that utilizes electrical signals from the muscles as the main means of information transportation between the human operator and the exoskeleton. Those signals are picked up from the skin on top of selected muscles and reflect the activation of the observed muscle. They are evaluated by a sophisticated but simplified biomechanical model of the human body to derive the desired action of the operator. A support action is computed in accordance to the desired action and is executed by the exoskeleton. The biomechanical model fuses results from different biomechanical and biomedical research groups and performs a sensible simplification considering the intended application. It contains parameters which reflect properties of the human operator and his or her current body state. A calibration algorithm for those parameters is presented which relies exclusively on sensors mounted on the exoskeleton, and provides deep inside into the mechanisms of the model. An exoskeleton for the knee joint support was designed and constructed to verify the model and investigate the interaction between the human operator and the machine in experiments with force support during everyday movements. Those results are also presented here.

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

EMG-based wrist gesture recognition using a convolutional neural network

Background: Deep learning has revolutionized artificial intelligence and has transformed many fields. It allows processing high-dimensional data (such as signals or images) without the need for feature engineering. The aim of this research is to develop a deep learning-based system to decode motor intent from electromyogram (EMG) signals. Methods: A myoelectric system based on convolutional ne...

متن کامل

Prediction of Above-elbow Motions in Amputees, based on Electromyographic(EMG) Signals, Using Nonlinear Autoregressive Exogenous (NARX) Model

Introduction In order to improve the quality of life of amputees, biomechatronic researchers and biomedical engineers have been trying to use a combination of various techniques to provide suitable rehabilitation systems. Diverse biomedical signals, acquired from a specialized organ or cell system, e.g., the nervous system, are the driving force for the whole system. Electromyography(EMG), as a...

متن کامل

Application of EMG signals for controlling exoskeleton robots.

Exoskeleton robots are mechanical constructions attached to human body parts, containing actuators for influencing human motion. One important application area for exoskeletons is human motion support, for example, for disabled people, including rehabilitation training, and for force enhancement in healthy subjects. This paper surveys two exoskeleton systems developed in our laboratory. The fir...

متن کامل

Manufacturing Evaluation of Fuzzy-Neuro Modifiers for Compensation of the Effects of Muscle Fatigue on EMG-Based Control to be Used in Upper-Limb Power-Assist Exoskeletons*

Assistive robotic technology can play a major role to improve the quality of life of the physically weak people such as aged, injured, disabled or handicapped. Many assistive devices have been developed according to the needs of such individuals. Especially, upper-limb power-assist exoskeletons have been able to draw attention, as the upper limb motions are very important for the daily activiti...

متن کامل

EMG-Based Position and Force Estimates in Coupled Human-Robot Systems: Towards EMG-Controlled Exoskeletons

This paper presents a methodology for the control of robots, in position and force, using electromyographic (EMG) signals recorded from muscles of the shoulder and elbow. A switching model is used for decoding muscular activity to both joint angles and force exerted from the human upper limb to the environment. The proposed method is able to estimate those variables in cases where no force is e...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

عنوان ژورنال:

دوره   شماره 

صفحات  -

تاریخ انتشار 2007