Article

Article title THE DESIGN OF AN ACTIVE HUMAN UPPER LIMB EXOSKELETON DEVICE WITH BIOFEEDBACK
Authors I.L. Ermolov, M.M. Knyazkov, A.N. Sukhanov, A.A. Kryukova
Section SECTION VI. MEDICAL ROBOTICS
Month, Year 10, 2015 @en
Index UDC 004.5, 531.8
DOI
Abstract The study of human-machine interface (HMI) with use of the human muscle bioelectric potential for the control of the upper limb exoskeleton is considered. a Relations between the use of electromyography and the extension of human capabilities via exoskeleton motion are identified. The use of muscle sensors to control exoskeleton device leads to the interface simplification between the operator and the exoskeleton and allows using of non-invasive to take into account the physiological characteristics of the operator. The control software and hardware for interaction of the operator and the exoskeleton device are proposed. It is based on physiological parameters like electromyogram (EMG) of the operator. Control algorithms for the exoskeleton device are developed. These algorithms check the obtained data from muscles to set the speed of exoskeleton’s motors. The experimental results showed the promise of the control method for mechatronic actuator module of an arm-exoskeleton under external force effects. The study also shows the efficiency of the proposed control algorithms over the traditional approach of exoskeleton motion control. The results of experimental studies show the prospects for the developed control method in use of mechatronic actuators of the exoskeleton’s elbow under external forces. Data obtained by simulation and experimental studies, can be used in the design of exoskeleton systems for upper and lower human extremities.

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Keywords Exoskeleton; EMG-control; HMI; force-torque control; multilink mechatronic system.
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