DocumentCode :
173539
Title :
Estimating joint angles from biological signals for multi-joint exoskeletons
Author :
Kawase, Toshihiro ; Sakurada, Takeshi ; Koike, Yasuharu ; Kansaku, Kenji
Author_Institution :
Dept. of Rehabilitation for Brain Functions, Syst. Neurosci. Sect., Res. Inst. of Nat. Rehabilitation Center for Persons with Disabilities, Japan
fYear :
2014
fDate :
5-8 Oct. 2014
Firstpage :
1470
Lastpage :
1474
Abstract :
Biological signals are used to control robotic exoskeletons. Our research group has developed a Brain-Machine Interface (BMI)-based Occupational Therapy Assist Suit (BOTAS), which can be controlled by both electroencephalography (EEG) and electromyography (EMG) signals. This paper presents a new method for estimating the joint angles of the arms and hands for the BOTAS from EMG signals using mathematical musculoskeletal models. In six able-bodied participants, the method succeeded in estimating the flexion/extension angles of the elbow, wrist, and metacarpophalangeal (MP) joint of the index finger. In a patient with an upper cervical spinal cord injury, the method succeeded in estimating the elbow angles. The participants could control the BOTAS empowered by the method. These results suggest that the method is potentially useful for controlling robotic exoskeletons in patients with paralyzed arms and fingers.
Keywords :
brain-computer interfaces; electroencephalography; electromyography; injuries; medical robotics; medical signal processing; neurophysiology; BMI; BOTAS; EEG; EMG; biological signal; brain-machine interface; cervical spinal cord injury; electroencephalography; electromyography; extension angle; flexion angle; joint angles; mathematical musculoskeletal model; metacarpophalangeal joint; multijoint exoskeletons; occupational therapy assist suit; robotic exoskeletons; Elbow; Electromyography; Estimation; Exoskeletons; Joints; Muscles; Wrist; Exoskeleton; electromyography; musculoskeletal model;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Systems, Man and Cybernetics (SMC), 2014 IEEE International Conference on
Conference_Location :
San Diego, CA
Type :
conf
DOI :
10.1109/SMC.2014.6974122
Filename :
6974122
Link To Document :
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