Title :
EMG-based control for lower-limb power-assist exoskeletons
Author :
Kiguchi, Kazuo ; Imada, Yasunobu
Author_Institution :
Dept. of Adv. Syst. Control Eng., Saga Univ., Saga
fDate :
March 30 2009-April 2 2009
Abstract :
Power-Assist for lower-limb is expected by many physically weak persons to assist their daily activities. It is important for the power-assist robots that the assist motion is generated based on users motion intention. This paper presents a muscle-model-oriented EMG-based (electromyogram-based) control method to activate a lower-limb power-assist robot according to the users motion intention since the EMG directly reflects the users muscle activities. In the proposed method, a matrix which expresses the relationship between the muscle activities and the generating joint torque is applied to estimate the users motion intention in real-time. The effectiveness of the proposed control method was evaluated by performing experiments.
Keywords :
electromyography; handicapped aids; medical robotics; EMG-based control; electromyogram-based control method; lower-limb power-assist exoskeletons; lower-limb power-assist robot; muscle activities; physically weak persons; user motion intention; DC motors; Electromyography; Exoskeletons; Hip; Knee; Leg; Motion control; Muscles; Power generation; Rehabilitation robotics;
Conference_Titel :
Robotic Intelligence in Informationally Structured Space, 2009. RIISS '09. IEEE Workshop on
Conference_Location :
Nashville, TN
Print_ISBN :
978-1-4244-2753-6
DOI :
10.1109/RIISS.2009.4937901