Single DOF powered exoskeleton control system, algorithms and signal processing

Abstract

The dynamic growth of robotics in the recent years has led to the creation of many machines directly interacting with the human body. An example of such devices are exoskeletons, a group of wearable robots. The main reason behind exoskeleton development is the augmentation of the physical abilities of a human being, specifically strength and endurance for the current state of the art. This article describes the most general categorization of exoskeletons, based on their control systems with the examples of commercially existing prototypes. The purpose of this article is to analyze the validity of using electromyogram control on a single degree-of-freedom powered exoskeleton using linear electric actuators. The primary effort of the research done was to create a control algorithm for the exoskeleton constructed. Due to the users individual properties, as well as other dynamically changing parameters, such as the skin conductance level or the electrode placement, a specific EMG circuit and calibration method was designed.With the signal unified, the dual channel differential threshold algorithm was created, based on the muscle tremor statistical analysis. The article describes these aspects of the exoskeleton research.