A Model-Based Control Strategy for Upper Limb Exosuits

Abstract

Increase the symbiosis between the human and the machine, is the major open challenge in wearable robotics research. Limitations are not only in hardware but also on the control side which is often limited in its bandwidth lacking to match frequency ranges of biomechanics, but also in detecting and interpreting human intention. In this work we propose a control framework for an upper limb exosuit which works using an EMG model based myoprocessor module. Results suggest that using biosignal in the control loop for wearable robotics improves reliability and interaction between the device and its pilot.