Development of a sEMG-based torque estimation control strategy for a soft elbow exoskeleton

Lu, Longhai; Wu, Qingcong; Chen, Xi; Shao, Ziyan; Chen, Bai; Wu, Hongtao

doi:10.1016/j.robot.2018.10.017

Cited by 45 publications

(28 citation statements)

References 35 publications

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“…Estimating user intended joint motion is a pre-requisite in calculating the optimum level of actuator torque to be generated by the exosuit in order to augment the user's effort. Human motion intention recognition using neural signals like EEG or physiological signals like EMG have several advantages as compared to using physical force signals such as human robot interaction force signals, in terms of latency (20-100ms), comfort and safety [19]. The functionality of BCI module in the simulation environment is to test and validate the different methods of desired motion estimation in sync with the other modules of exosuit like controller and actuator by taking data from a pre-recorded EEG dataset.…”

Section: G Bcimentioning

confidence: 99%

An Integrated Dynamic Simulation Platform for Assistive Human-Robot Interaction: Application to Upper Limb Exosuit

Sambhav¹,

Jena²,

Chatterjee³

et al. 2021

Preprint

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Soft exosuits are wearable robotic devices that assist or enhance the human muscle performance. A human machine interface simulation platform based on MATLAB-OpenSim interface is developed in this paper for closed loop dynamic simulation with feedback control strategy and to study its effect on human physiology. The proposed simulation model is based on Computed Muscle Control (CMC) algorithm and is implemented using the MATLAB -OpenSim interface. A Gravity Compensation (GC) controller has been implemented on the external device and the resulting decrease in the physiological torques, muscle activations and metabolic costs during a simple load lifting task with two different speeds is investigated.

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Section: G Bcimentioning

confidence: 99%

An Integrated Dynamic Simulation Platform for Assistive Human-Robot Interaction: Application to Upper Limb Exosuit

Sambhav¹,

Jena²,

Chatterjee³

et al. 2021

Preprint

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“…The power systems of hydraulic or pneumatic driving modes introduce additional load to the body due to their large volume; in contrast, a motor can be placed on the back of the body. Among the limb assistance components, assistance for upper limbs (shoulder [14], elbow [15], and wrist [16] joints), the waist joint [17], and lower limbs (hip [18], knee [19], and ankle [20] joints) has been developed. Moreover, some exoskeletons, called exosuit, have no rigid frame [21].…”

Section: Introductionmentioning

confidence: 99%

Method, Design, and Evaluation of an Exoskeleton for Lifting a Load In Situ

2021

Applied Bionics and Biomechanics

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Due to the unclear application scenarios and force analysis of exoskeletons, there exists a research gap in exoskeleton design. This paper presents a design method and realization of an exoskeleton for a specific scenario of lifting a load in situ. Firstly, the lifting motion process and its data were collected based on a 3-D motion capture system and dynamometer treadmill system. Then, the variations of the torque and motion of each joint were obtained from the data analysis, based on which an active assistance mode for upper limbs and a passive assistance mode for lower limbs were demonstrated. In this design, the hydraulic cylinder for shoulder assistance, the motor for elbow assistance, and the spring for lower limb assistance were calculated and selected according to the motion and torque of each joint. Finally, subjective and objective methods were used to evaluate the exoskeleton based on the results of five test participants, and the median oxygen consumption of the whole test by lifting a load ten times with the assistance was found to be reduced by 9.45% as compared with that in the absence of the exoskeleton.

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“…EMG based exoskeleton controls have been reported in literature. 17–22 The effect of training time on sEMG based classification has also been studied earlier. 23–26 The results indicate that performance continuously downgrades as the time difference between training and testing day increases.…”

Section: Introductionmentioning

confidence: 99%

A comparative study of motion detection with FMG and sEMG methods for assistive applications

Islam

Waris

Kamavuako

et al. 2020

Journal of Rehabilitation and Assistive Technologies Engineerin

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Introduction While surface-electromyography (sEMG) has been widely used in limb motion detection for the control of exoskeleton, there is an increasing interest to use forcemyography (FMG) method to detect motion. In this paper, we review the applications of two types of motion detection methods. Their performances were experimentally compared in day-to-day classification of forearm motions. The objective is to select a detection method suitable for motion assistance on a daily basis. Methods Comparisons of motion detection with FMG and sEMG were carried out considering classification accuracy (CA), repeatability and training scheme. For both methods, classification of motions was achieved through feed-forward neural network. Repeatability was evaluated on the basis of change in CA between days and also training schemes. Results The experiments shows that day-to-day CA with FMG can reach 84.9%, compared with a CA of 77.8% with sEMG, when the classifiers were trained only on the first day. Moreover, the CA with FMG can reach to 86.5%, comparable to CA of 84.1% with sEMG, if classifiers were trained daily. Conclusions Results suggest that data recorded from FMG is more repeatable in day-to-day testing and therefore FMG-based methods can be more useful than sEMG-based methods for motion detection in applications where exoskeletons are used as needed on a daily basis.

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Development of a sEMG-based torque estimation control strategy for a soft elbow exoskeleton

Cited by 45 publications

References 35 publications

An Integrated Dynamic Simulation Platform for Assistive Human-Robot Interaction: Application to Upper Limb Exosuit

An Integrated Dynamic Simulation Platform for Assistive Human-Robot Interaction: Application to Upper Limb Exosuit

Method, Design, and Evaluation of an Exoskeleton for Lifting a Load In Situ

A comparative study of motion detection with FMG and sEMG methods for assistive applications

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