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EMG-based Motion Intention Recognition for Controlling a Powered Knee Orthosis

AuthorsNuno Fernandes, Pedro; Figueredo, Joana; Moreira, Luis; Félix, Paulo; Correia, A.; Santos, Cristina P.; Moreno, Juan Camilo
Legged locomotion
Issue Date24-Apr-2019
PublisherInstitute of Electrical and Electronics Engineers
Citation2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC) in Porto, Portugal, 26 April 2019.
AbstractPowered assistive devices have been playing a major role in gait rehabilitation. This work aims to develop a user-oriented assistive strategy with an EMG-based control using a powered knee orthosis (PKO) to provide assistive commands according to the user¿s motion intention tracked by electromyography (EMG) signals. To achieve this goal, the work first comprised the development of a wired EMG acquisition system, the study and implementation of a knee joint torque estimation method, and the development of a real-time controller, which uses the estimated torque and the actuator¿s torque measured from the PKO to provide user-oriented assistance in walking. We used a proportional gain method to estimate the knee torque, which required a calibration procedure, allowing to determine the relation between the EMG signal and the actuator¿s torque. The EMG-based control was validated with two subject walking in a treadmill. The overall performance of the EMG-based control was in accordance with the expectations since it proved to be functional and time- effective when assisting the user¿s movements in walking at different walking speeds. Findings show that the developed assistive strategy can effectively follow the user¿s motion intention and has potential for gait rehabilitation of patients with residual muscular strength.
DescriptionTrabajo presentado en 2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC) en Oporto, Portugal, el 24 de abril de 2019.
Publisher version (URL)http://dx.doi.org/10.1109/ICARSC.2019.8733628
Identifiersdoi: 10.1109/ICARSC.2019.8733628
Appears in Collections:(IC) Comunicaciones congresos
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