In this work a solution for the design of an assistive system for both muscular effort compensations and muscular effort generations for physical and rehabilitation tasks is presented. The proposed human-in-the-loop (HITL) control directly exploits the subject muscle sEMG signals measures to produce a specified and repeatable muscular response, without the need for human joint torque estimations. A set of experimental tests addressing different assistive tasks are proposed to validate the control design. Moreover different robotic devices, both grounded and wearable, are considered to assess the control under different working scenarios. The experimental results, involving four healthy subjects, show the efficacy of the proposed approach and the successful compensation/generation of the subject effort in the different assistive tasks considered.


    Access

    Download


    Export, share and cite



    Title :

    Robotic Muscular Assistance-As-Needed for Physical and Training/Rehabilitation Tasks: Design and Experimental Validation of a Closed-Loop Myoelectric Control in Grounded and Wearable Applications



    Publication date :

    2021-01-01



    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629





    A Low-Cost Arm Robotic Platform based on Myoelectric Control for Rehabilitation Engineering

    Ruiz-Olaya, Andres F. / Quinayas Burgos, Cesar A. / Londono, Leonardo Torres | IEEE | 2019


    Design and technical validation of a wearable biofeedback system for robotic gait rehabilitation

    Pinheiro, Cristiana / Lopes, Joao M. / Figueiredo, Joana et al. | BASE | 2020

    Free access

    Closed-loop multi-amplitude control for robust and dexterous performance of myoelectric prosthesis

    Markovic, Marko / Varel, Marc / Schweisfurth, Meike A et al. | BASE | 2020

    Free access