A novel sEMG control-based variable stiffness exoskeleton
| Autor: | Yi Liu, Luc Boulardot, Songyuan Zhang, Shuxiang Guo |
|---|---|
| Rok vydání: | 2017 |
| Předmět: |
musculoskeletal diseases
0209 industrial biotechnology Engineering animal structures Variable stiffness medicine.diagnostic_test business.industry 0206 medical engineering Stiffness Control engineering 02 engineering and technology Electromyography equipment and supplies musculoskeletal system 020601 biomedical engineering Exoskeleton body regions Mechanism (engineering) 020901 industrial engineering & automation Control theory medicine Torque medicine.symptom business Actuator |
| Zdroj: | 2017 IEEE International Conference on Mechatronics and Automation (ICMA). |
| DOI: | 10.1109/icma.2017.8016029 |
| Popis: | In recent years, surface electromyography (sEMG) signals which are biomedical signals generated by muscles have been utilized to estimate human's muscular torque and predict their intention. In this paper, a variable stiffness exoskeleton which utilizes EMG signals to adjust the stiffness of the output link to meet different environmental requirements and guarantee the wearer's safety has been proposed. There is a stiffness adjustment mechanism located on the forearm part of the exoskeleton. Two dry electrodes which collect sEMG signals from agonist and antagonist muscles pair were attached on the subject's skin of corresponding muscle fibers respectively. The collected sEMG signals could be utilized to adjust the stiffness of output link according to the subject's intention. Combining sEMG signals with variable stiffness actuator (VSA) in the proposed exoskeleton, different outputs of stiffness could be realized in a compact and light hardware system. Experimental results showed the stiffness could be adjusted smoothly according to the Intention-based sEMG control. |
| Databáze: | OpenAIRE |
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