Trends and Challenges in EMG Based Control Scheme of Exoskeleton Robots- A Review

Ram Murat Singh is with the National Institute of Technical teachers Training and Research, Chandigarh, India (phone: +919041933679; e-mail: rammurat.singh@ gmail.com). Dr. S. Chatterji (Prof. and head, Electrical Engg deptt.) is with National Institute of Technical teachers Training and Research, Chandigarh, India (e-mail: [email protected]). Abstract—In the present review article the application of robotics in the medical field has been explored. Exoskeleton robots are being used in rehabilitation, extending the strength of humans and substituting for lost limbs. Present focus of research is in the area of active powered exoskeleton robots especially surface electromyogram (sEMG) controlled ones. We restrict our discussion to sEMG based control scheme only as EMG signals provide rich motor control information from which the user’s intention can be detected, thereby making EMG the most suited approach for designing exoskeleton robots. Usually exoskeleton robots are worn by patients with disabilities; hence their control should be as efficient as possible so as to closely mimic natural human motion. This consideration makes the implementation of sEMG exoskeleton robots very challenging. We review the various sEMG based control schemes which are presently employed in designing exoskeleton robots and discuss the challenges faced in these schemes.