TORQUE CONTROL OF AN ACTIVE UPPER LIMB EXOSKELETON WITH PNEUMATIC ARTIFICIAL MUSCLES USING SURFACE ELECTROMYOGRAPHY (sEMG) AND A MODIFIED HILL-TYPE MUSCLE MODEL
نویسندگان
چکیده
1 INTRODUCTION This paper presents an alternative and simple exoskeleton Human-Machine Interface (HMI) for human strength and endurance amplification using a modified version of the Hill-type muscle. Pneumatic Artificial Muscles (PAM) are used as actuators for its high power-to-weight ratio. Genetic Algorithms (GA) approach locally optimizes the control model parameters for the assistive device using muscle surface electromyography (sEMG).
منابع مشابه
Use of Surface Electromyography to Control an Active Upper Limb Exoskeleton Actuated by Pneumatic Artificial Muscles and Optimized with Genetic Algorithms
Robotics for rehabilitation and human amplification is imminent to become part of our daily life. The juxtaposition of human control capability and machine mechanical power offers a promising solution for human assistance and force enhancement. This paper presents an alternative and simple exoskeleton and a Human-Machine Interface (HMI) for human strength and endurance amplification using a ver...
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