Preprint Article Version 1 This version is not peer-reviewed

A High-Level Control Algorithm Based on sEMG Signalling for an Elbow Joint SMA Exoskeleton

Version 1 : Received: 13 June 2018 / Approved: 20 June 2018 / Online: 20 June 2018 (06:28:29 CEST)

A peer-reviewed article of this Preprint also exists.

Copaci, D.; Serrano, D.; Moreno, L.; Blanco, D. A High-Level Control Algorithm Based on sEMG Signalling for an Elbow Joint SMA Exoskeleton. Sensors 2018, 18, 2522. Copaci, D.; Serrano, D.; Moreno, L.; Blanco, D. A High-Level Control Algorithm Based on sEMG Signalling for an Elbow Joint SMA Exoskeleton. Sensors 2018, 18, 2522.

Journal reference: Sensors 2018, 18, 2522
DOI: 10.3390/s18082522

Abstract

A high-level control algorithm capable of generating position and torque references from surface electromyography signals (sEMG) has been designed. It is applied to a shape memory alloy (SMA) actuated exoskeleton used in active rehabilitation therapies for elbow joints. The sEMG signals are filtered and normalized according data collected online during the first seconds of~therapy sessions. The control algorithm uses the sEMG signals to promote active participation of patients during the therapy session. In order to generate the position reference pattern with good precision, the sEMG normalized signal is compared with a pressure sensor signal to detect the intention of each movement. The algorithm has been tested in simulations and with healthy people for control of an elbow exoskeleton in flexion–extension movements. The results indicate that sEMG signals from elbow muscles in combination with pressure sensors that measure arm–exoskeleton interaction can be used as inputs for the control algorithm, which adapts the reference for exoskeleton movements according a patient's intention.

Subject Areas

exoskeleton; electromyographic (EMG); control systems

Comments (0)

We encourage comments and feedback from a broad range of readers. See criteria for comments and our diversity statement.

Leave a public comment
Send a private comment to the author(s)
Views 0
Downloads 0
Comments 0
Metrics 0


×
Alerts
Notify me about updates to this article or when a peer-reviewed version is published.