Power augmentation of upper extremity by using agonist electromyography signals only for extended admittance control

Abstract

In this study, we extended the conventional admittance control and developed a new power augmentation technology that supports the upper extremity movements of humans using only the electromyography (EMG) signals of agonists. First, we selected the EMG signals of two agonists, the biceps brachii and clavicular part of the deltoid, to control the elbow and shoulder joints, respectively. We then developed an extended admittance control to augment the subject's strength and support the movements of the subject's upper extremity in flexion, keeping still, and extension while holding a heavy load. The experimental results showed that the performance of the proposed extended admittance control can be arbitrarily adjusted by control parameters to reduce the load "felt" by the user.