Intention - Based EMG Control for Powered Exoskeletons

  • Lenzi T
  • Marco S
  • De Rossi M
 et al. 
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See, stats, and : https : / / www . researchgate . net / publication / 224973387 Intention - Based Exoskeletons Article DOI : 10 . 1109 / TBME . 2012 . 2198821 CITATIONS 97 READS 858 4 : Some : Artificial CYBERLEGs Tommaso University 54 SEE Stefano Harvard 39 SEE Nicola Scuola ' Anna 100 , 402 SEE Maria Scuola ' Anna 167 , 412 SEE All . The . Abstract—Electromyographical (EMG) signals have been fre - quently used to estimate human muscular torques . In the field of human - assistive robotics , these methods provide valuable informa - tion to provide effectively support to the user . However , their usabil - ity is strongly limited by the necessity of complex user - dependent and session - dependent calibration procedures , which confine their use to the laboratory environment . Nonetheless , an accurate esti - mate of muscle torque could be unnecessary to provide effective movement assistance to users . The natural ability of human cen - tral nervous system of adapting to external disturbances could compensate for a lower accuracy of the torque provided by the robot and maintain the movement accuracy unaltered , while the effort is reduced . In order to explore this possibility , in this paper we study the reaction of ten healthy subjects to the assistance pro - vided through a proportional EMG control applied by an elbow powered exoskeleton . This system gives only a rough estimate of the user muscular torque but does not require any specific calibra - tion . Experimental results clearly show that subjects adapt almost instantaneously to the assistance provided by the robot and can reduce their effort while keeping full control of the movement un - der different dynamic conditions (i . e . , no alterations of movement accuracy are observed) . Index Terms—Assistive robotics , electromyography (EMG) control , powered exoskeletons .

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  • Tommaso Lenzi

  • Stefano Marco

  • Maria De Rossi

  • Nicola Vitiello

  • Maria Chiara Carrozza

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