A high-level control algorithm capable of generating position and torque references from surface electromyography signals (sEMG) was designed. It was applied to a shape memory alloy (SMA)-actuated exoskeleton used in active rehabilitation therapies for elbow joints. The sEMG signals are filtered and normalized according to data collected online during the first seconds of a therapy session. The control algorithm uses the sEMG signals to promote active participation of patients during the therapy session. In order to generate the reference position pattern with good precision, the sEMG normalized signal is compared with a pressure sensor signal to detect the intention of each movement. The algorithm was tested in simulations and with healthy people for control of an elbow exoskeleton in flexion&-extension movements. The results indicate that sEMG signals from elbow muscles, in combination with pressure sensors that measure arm&-exoskeleton interaction, can be used as inputs for the control algorithm, which adapts the reference for exoskeleton movements according to a patient's intention. ; The research was funded by RoboHealth (DPI2013-47944-C4-3-R) and the EDAM (DPI2016-75346-R) Spanish research projects.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    A High-Level Control Algorithm Based on sEMG Signalling for an Elbow Joint SMA Exoskeleton



    Erscheinungsdatum :

    02.08.2018


    Anmerkungen:

    AR/0000022455



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629




    Pattern Recognition of Continuous Elbow Joint Movements Using Bispectrum-based sEMG

    Bu, Dongdong / Guo, Shuxiang / Ma, Hongdao et al. | British Library Conference Proceedings | 2018


    Control of a Lower Limb Exoskeleton Robot by Upper Limb sEMG Signal

    Guo, Shuxiang / Ding, Yibin / Guo, Jian | British Library Conference Proceedings | 2021


    Design and development of the sEMG-based exoskeleton strength enhancer for the legs

    Cenit, Mikecon / Gandhi, Vaibhav | BASE | 2020

    Freier Zugriff

    Elbow Joint Angle Estimation in Wavelet Neural Network using ReliefF Selected Features of sEMG and Post Filter

    Luo, Yang / Gao, Yongsheng / Li, Qiang et al. | British Library Conference Proceedings | 2018


    Design and development of the sEMG-based exoskeleton strength enhancer for the legs

    Cenit, Mikecon / Gandhi, Vaibhav | BASE | 2020

    Freier Zugriff