Bimanual shoulder flexion system with surface electromyography for hemiplegic patients after stroke: A preliminary study

A robot-assisted bimanual shoulder flexion rehabilitation system with surface electromyography (sEMG) for hemiplegic patients after stroke is presented as a preliminary study before clinical test. The assistive system driven by combination of bimanual mirror imaging motion and sEMG in order to induce continuous voluntary stimulation to muscle and nerve of the patients. In this paper, hardware design, controller with impedance compensation of actuator using disturbance observer (DOB) for back-drivable operation, and sEMG signal processing to obtain desired assistive torque are also reported. The performance of impedance compensation and assistive operation of the system with sEMG were verified by experiments with a healthy participant. This system is expected to help to recover functionality of neural/musculoskeletal system to hemiplegic patients.