Proportional EMG control for upper-limb powered exoskeletons

T. Lenzi; S. M M De Rossi; N. Vitiello; M. C. Carrozza

doi:10.1109/IEMBS.2011.6090139

Proportional EMG control for upper-limb powered exoskeletons

T. Lenzi, S. M M De Rossi, N. Vitiello, M. C. Carrozza

Fondazione Don Carlo Gnocchi Onlus

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

Electromyography (EMG) has been frequently proposed as the driving signal for controlling powered exoskeletons. Lot of effort has been spent to design accurate algorithms for muscular torque estimation, while very few studies attempted to understand to what extent an accurate torque estimate is indeed necessary to provide effective movement assistance through powered exoskeletons. In this study, we focus on the latter aspect by using a simple and low-accuracy torque estimate, an EMG-proportional control, to provide assistance through an elbow exoskeleton. Preliminary results show that subjects adapt almost instantaneously to the assistance provided by the exoskeleton and can reduce their effort while keeping full control of the movement.

Original language	English
Title of host publication	Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
Pages	628-631
Number of pages	4
DOIs	https://doi.org/10.1109/IEMBS.2011.6090139
Publication status	Published - 2011
Event	33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011 - Boston, MA, United States Duration: Aug 30 2011 → Sep 3 2011

Other

Other	33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011
Country/Territory	United States
City	Boston, MA
Period	8/30/11 → 9/3/11

ASJC Scopus subject areas

Computer Vision and Pattern Recognition
Signal Processing
Biomedical Engineering
Health Informatics

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10.1109/IEMBS.2011.6090139

Cite this

Lenzi, T, De Rossi, SMM, Vitiello, N & Carrozza, MC 2011, Proportional EMG control for upper-limb powered exoskeletons. in Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS., 6090139, pp. 628-631, 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011, Boston, MA, United States, 8/30/11. https://doi.org/10.1109/IEMBS.2011.6090139

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abstract = "Electromyography (EMG) has been frequently proposed as the driving signal for controlling powered exoskeletons. Lot of effort has been spent to design accurate algorithms for muscular torque estimation, while very few studies attempted to understand to what extent an accurate torque estimate is indeed necessary to provide effective movement assistance through powered exoskeletons. In this study, we focus on the latter aspect by using a simple and low-accuracy torque estimate, an EMG-proportional control, to provide assistance through an elbow exoskeleton. Preliminary results show that subjects adapt almost instantaneously to the assistance provided by the exoskeleton and can reduce their effort while keeping full control of the movement.",

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AB - Electromyography (EMG) has been frequently proposed as the driving signal for controlling powered exoskeletons. Lot of effort has been spent to design accurate algorithms for muscular torque estimation, while very few studies attempted to understand to what extent an accurate torque estimate is indeed necessary to provide effective movement assistance through powered exoskeletons. In this study, we focus on the latter aspect by using a simple and low-accuracy torque estimate, an EMG-proportional control, to provide assistance through an elbow exoskeleton. Preliminary results show that subjects adapt almost instantaneously to the assistance provided by the exoskeleton and can reduce their effort while keeping full control of the movement.

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Proportional EMG control for upper-limb powered exoskeletons

Abstract

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