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Motion Detection Enhanced Control of an Upper Limb Exoskeleton Robot for Rehabilitation Training
Wenjun Ye,
Zhijun Li,
Chenguang Yang,
Fei Chen,
Chun-Yi Su
International Journal of Humanoid Robotics, Start page: 1650031
Swansea University Author: Chenguang Yang
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DOI (Published version): 10.1142/S0219843616500316
Abstract
The paper studies the control design of an exoskeleton robot based on electromyography (EMG). An EMG-based motion detection method is proposed to trigger the rehabilitation assistance according to user intention. An adaptive control scheme that compensates for the exoskeleton's dynamics is empl...
| Published in: | International Journal of Humanoid Robotics |
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| ISSN: | 0219-8436 |
| Published: |
2017
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| Online Access: |
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| URI: | https://cronfa.swan.ac.uk/Record/cronfa30811 |
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| Abstract: |
The paper studies the control design of an exoskeleton robot based on electromyography (EMG). An EMG-based motion detection method is proposed to trigger the rehabilitation assistance according to user intention. An adaptive control scheme that compensates for the exoskeleton's dynamics is employed, and it is able to provide assistance tailored to the human user, who is supposed to participate actively in the training process. The experiment results verify the effectiveness of the control method developed in this paper. |
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| Keywords: |
Human-like learning control; EMG motion detection; SVM-based classification Read More: http://www.worldscientific.com/doi/abs/10.1142/S0219843616500316 |
| College: |
Faculty of Science and Engineering |
| Start Page: |
1650031 |